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Fix ports and unusuable code to make shooter test work
[3501/stronghold-2016] / src / org / usfirst / frc / team3501 / robot / OI.java
diff --git a/src/org/usfirst/frc/team3501/robot/OI.java b/src/org/usfirst/frc/team3501/robot/OI.java
index cc217235133db605ac73549cf3aa8755cf1785e7..07c47e8405422f77149aa54fabaf7c0cc81b0559 100644 (file)
--- a/src/org/usfirst/frc/team3501/robot/OI.java
+++ b/src/org/usfirst/frc/team3501/robot/OI.java
@@ -1,25 +1,13 @@
 package org.usfirst.frc.team3501.robot;
 
-import org.usfirst.frc.team3501.robot.commands.auton.PassChevalDeFrise;
-import org.usfirst.frc.team3501.robot.commands.auton.PassDrawBridge;
-import org.usfirst.frc.team3501.robot.commands.auton.PassPortcullis;
-import org.usfirst.frc.team3501.robot.commands.auton.PassSallyPort;
-import org.usfirst.frc.team3501.robot.commands.intakearm.IntakeBall;
-import org.usfirst.frc.team3501.robot.commands.scaler.ExtendLift;
-import org.usfirst.frc.team3501.robot.commands.scaler.RetractLift;
+import org.usfirst.frc.team3501.robot.commands.driving.ChangeGear;
 import org.usfirst.frc.team3501.robot.commands.shooter.Shoot;
-import org.usfirst.frc.team3501.robot.commands.shooter.runShooter;
 
-import edu.wpi.first.wpilibj.DigitalInput;
 import edu.wpi.first.wpilibj.Joystick;
 import edu.wpi.first.wpilibj.buttons.Button;
 import edu.wpi.first.wpilibj.buttons.JoystickButton;
-import edu.wpi.first.wpilibj.command.Scheduler;
 
 public class OI {
-  public static boolean isScalingMode = false;
-  public static boolean isCompactRobot = false;
-
   public static Joystick leftJoystick;
   public static Joystick rightJoystick;
 
@@ -46,89 +34,103 @@ public class OI {
   // right joystick buttons
   public static Button intakeBoulder;
   public static Button shootBoulder;
+  public static Button toggleGear;
 
   // button to change robot to the scaling mode
-  public static DigitalButton toggleScalingMode;
+  public static DigitalButton toggleScaling;
 
   public OI() {
     leftJoystick = new Joystick(Constants.OI.LEFT_STICK_PORT);
     rightJoystick = new Joystick(Constants.OI.RIGHT_STICK_PORT);
 
-    passPortcullis = new DigitalButton(
-        new DigitalInput(Constants.OI.PASS_PORTCULLIS_PORT));
-    passChevalDeFrise = new DigitalButton(
-        new DigitalInput(Constants.OI.PASS_CHEVAL_DE_FRISE_PORT));
-    passDrawbridge = new DigitalButton(
-        new DigitalInput(Constants.OI.PASS_DRAWBRIDGE));
-    passSallyPort = new DigitalButton(
-        new DigitalInput(Constants.OI.PASS_SALLYPORT_PORT));
-
-    lowerChevalDeFrise = new DigitalButton(
-        new DigitalInput(Constants.OI.ARCADE_INTAKEARM_LEVEL_ONE_PORT));
-    moveToIntakeBoulder = new DigitalButton(
-        new DigitalInput(Constants.OI.ARCADE_INTAKEARM_LEVEL_TWO_PORT));
-    poiseAboveChevalDeFrise = new DigitalButton(
-        new DigitalInput(Constants.OI.ARCADE_INTAKEARM_LEVEL_THREE_PORT));
-    moveIntakeArmInsideRobot = new DigitalButton(
-        new DigitalInput(Constants.OI.ARCADE_INTAKEARM_LEVEL_FOUR_PORT));
-
-    toggleShooter = new JoystickButton(leftJoystick,
-        Constants.OI.LEFT_JOYSTICK_TRIGGER_PORT);
-    SpinRobot180_1 = new JoystickButton(leftJoystick,
-        Constants.OI.LEFT_JOYSTICK_TOP_LEFT_PORT);
-    SpinRobot180_2 = new JoystickButton(leftJoystick,
-        Constants.OI.LEFT_JOYSTICK_TOP_RIGHT_PORT);
-    compactRobot_1 = new JoystickButton(leftJoystick,
+    toggleGear = new JoystickButton(leftJoystick,
         Constants.OI.LEFT_JOYSTICK_TOP_CENTER_PORT);
-    compactRobot_2 = new JoystickButton(leftJoystick,
-        Constants.OI.LEFT_JOYSTICK_TOP_LOW_PORT);
-
-    intakeBoulder = new JoystickButton(rightJoystick,
-        Constants.OI.RIGHT_JOYSTICK_TRIGGER_PORT);
-    shootBoulder = new JoystickButton(rightJoystick,
-        Constants.OI.RIGHT_JOYSTICK_THUMB_PORT);
-
-    toggleScalingMode = new DigitalButton(
-        new DigitalInput(Constants.OI.SCALING_BUTTON_PORT));
-
-    passPortcullis.whenPressed(new PassPortcullis());
-    passChevalDeFrise.whenPressed(new PassChevalDeFrise());
-    passDrawbridge.whenPressed(new PassDrawBridge());
-    passSallyPort.whenPressed(new PassSallyPort());
-
-    lowerChevalDeFrise
-        .whenPressed(/* TO DO: define this, and fill in commands */);
-
-    if (toggleScalingMode.get()) {
-      if (!isScalingMode) {
-        isScalingMode = true;
-        if (!isCompactRobot) {
-          Scheduler.getInstance().add(new CompactRobot());
-          isCompactRobot = true;
-        }
-      } else if (isScalingMode) {
-        isScalingMode = false;
-        Scheduler.getInstance().add(new CompactRobot());
-      }
-    }
-
-    if (!isScalingMode) {
-      toggleShooter.toggleWhenPressed(new runShooter());
-      compactRobot_1.whenPressed(new CompactRobot());
-
-      intakeBoulder.whenPressed(new IntakeBall());
-      shootBoulder.whenPressed(new Shoot());
-
-    } else if (isScalingMode) {
-      toggleShooter.toggleWhenPressed(new WinchIn());
-      compactRobot_1.whenPressed(new RetractLift());
-
-      intakeBoulder.toggleWhenPressed(new WinchOut());
-      shootBoulder.whenPressed(new ExtendLift());
-    }
-
-    SpinRobot180_1
-        .whenPressed(/* rotate robot 180, reorient joystick controls */);
+    toggleGear.toggleWhenPressed(new ChangeGear());
 
+    shootBoulder = new JoystickButton(leftJoystick,
+        Constants.OI.LEFT_JOYSTICK_TRIGGER_PORT);
+    shootBoulder.whenPressed(new Shoot());
+
+    // passPortcullis = new DigitalButton(
+    // new DigitalInput(Constants.OI.PASS_PORTCULLIS_PORT));
+    // passPortcullis.whenPressed(new PassPortcullis());
+    //
+    // passChevalDeFrise = new DigitalButton(
+    // new DigitalInput(Constants.OI.PASS_CHEVAL_DE_FRISE_PORT));
+    // passChevalDeFrise.whenPressed(new PassChevalDeFrise());
+    //
+    // passDrawbridge = new DigitalButton(
+    // new DigitalInput(Constants.OI.PASS_DRAWBRIDGE_PORT));
+    // passDrawbridge.whenPressed(new PassDrawBridge());
+    //
+    // passSallyPort = new DigitalButton(
+    // new DigitalInput(Constants.OI.PASS_SALLYPORT_PORT));
+    // passSallyPort.whenPressed(new PassSallyPort());
+    //
+    // lowerChevalDeFrise = new DigitalButton(
+    // new DigitalInput(Constants.OI.ARCADE_INTAKEARM_LEVEL_ONE_PORT));
+    // lowerChevalDeFrise.whenPressed(new MoveIntakeArmToAngle(
+    // IntakeArm.potAngles[0], IntakeArm.moveIntakeArmSpeed));
+    //
+    // moveToIntakeBoulder = new DigitalButton(
+    // new DigitalInput(Constants.OI.ARCADE_INTAKEARM_LEVEL_TWO_PORT));
+    // moveToIntakeBoulder.whenPressed(new MoveIntakeArmToAngle(
+    // IntakeArm.potAngles[1], IntakeArm.moveIntakeArmSpeed));
+    //
+    // poiseAboveChevalDeFrise = new DigitalButton(
+    // new DigitalInput(Constants.OI.ARCADE_INTAKEARM_LEVEL_THREE_PORT));
+    // poiseAboveChevalDeFrise.whenPressed(new MoveIntakeArmToAngle(
+    // IntakeArm.potAngles[2], IntakeArm.moveIntakeArmSpeed));
+    //
+    // moveIntakeArmInsideRobot = new DigitalButton(
+    // new DigitalInput(Constants.OI.ARCADE_INTAKEARM_LEVEL_FOUR_PORT));
+    // moveIntakeArmInsideRobot.whenPressed(new MoveIntakeArmToAngle(
+    // IntakeArm.potAngles[3], IntakeArm.moveIntakeArmSpeed));
+    //
+    // toggleShooter = new JoystickButton(leftJoystick,
+    // Constants.OI.LEFT_JOYSTICK_TRIGGER_PORT);
+    // SpinRobot180_1 = new JoystickButton(leftJoystick,
+    // Constants.OI.SPIN1_PORT);
+    // SpinRobot180_1.whenPressed(new Turn180());
+    //
+    // SpinRobot180_2 = new JoystickButton(leftJoystick,
+    // Constants.OI.SPIN2_PORT);
+    // SpinRobot180_2.whenPressed(new Turn180());
+    //
+    // compactRobot_1 = new JoystickButton(leftJoystick,
+    // Constants.OI.LEFT_JOYSTICK_TOP_CENTER_PORT);
+    // compactRobot_2 = new JoystickButton(leftJoystick,
+    // Constants.OI.LEFT_JOYSTICK_TOP_LOW_PORT);
+    //
+    // intakeBoulder = new JoystickButton(rightJoystick,
+    // Constants.OI.RIGHT_JOYSTICK_TRIGGER_PORT);
+    // shootBoulder = new JoystickButton(rightJoystick,
+    // Constants.OI.RIGHT_JOYSTICK_THUMB_PORT);
+    //
+    // toggleScaling = new DigitalButton(
+    // new DigitalInput(Constants.OI.TOGGLE_SCALING_PORT));
+    // toggleScaling.whenPressed(new ToggleScaling());
+    //
+    // if (!Constants.Scaler.SCALING) {
+    // toggleShooter.toggleWhenPressed(new runShooter());
+    // compactRobot_1.whenPressed(new CompactRobot());
+    // compactRobot_2.whenPressed(new CompactRobot());
+    //
+    // intakeBoulder.whenPressed(new IntakeBall());
+    // shootBoulder.whenPressed(new Shoot());
+    //
+    // } else {
+    // // toggleShooter becomes winch
+    // // compact robot button 1 and 2 retracts the lift
+    // // intake button stops the winch
+    // // shoot button extends the lift
+    // toggleShooter.whenPressed(new RunWinchContinuous(
+    // Constants.Scaler.SCALE_SPEED, Constants.Scaler.SECONDS_TO_SCALE));
+    // compactRobot_1.whenPressed(new RetractLift());
+    // compactRobot_2.whenPressed(new RetractLift());
+    //
+    // intakeBoulder.whenReleased(new StopWinch());
+    // shootBoulder.whenPressed(new ExtendLift());
+    // }
   }
 }