package org.usfirst.frc.team3501.robot;
-import org.usfirst.frc.team3501.robot.commands.changeSpeed;
+import org.usfirst.frc.team3501.robot.commands.auton.CompactRobot;
+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.driving.Turn180;
+import org.usfirst.frc.team3501.robot.commands.intakearm.IntakeBall;
+import org.usfirst.frc.team3501.robot.commands.intakearm.MoveIntakeArmToAngle;
+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.scaler.RunWinchContinuous;
+import org.usfirst.frc.team3501.robot.commands.scaler.StopWinch;
+import org.usfirst.frc.team3501.robot.commands.scaler.ToggleScaling;
+import org.usfirst.frc.team3501.robot.commands.shooter.Shoot;
+import org.usfirst.frc.team3501.robot.subsystems.IntakeArm;
+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;
public class OI {
public static Joystick leftJoystick;
public static Joystick rightJoystick;
- public static Button decrementSpeed;
- public static Button incrementSpeed;
- public static Button outputCurrentShooterSpeed;
- public static Button runWheel;
+
+ // first column of arcade buttons - getting past defenses
+ public static DigitalButton passPortcullis;
+ public static DigitalButton passChevalDeFrise;
+ public static DigitalButton passDrawbridge;
+ public static DigitalButton passSallyPort;
+
+ // second column of arcade buttons - different angles for intake arm
+ // TO DO: change position numbers to angle values (?)
+ public static DigitalButton lowerChevalDeFrise;
+ public static DigitalButton moveToIntakeBoulder;
+ public static DigitalButton poiseAboveChevalDeFrise;
+ public static DigitalButton moveIntakeArmInsideRobot;
+
+ // left joystick buttons
+ public static Button toggleShooter;
+ public static Button SpinRobot180_1; // both do the same thing, just two
+ public static Button SpinRobot180_2; // different buttons
+ public static Button compactRobot_1;
+ public static Button compactRobot_2;
+
+ // right joystick buttons
+ public static Button intakeBoulder;
+ public static Button shootBoulder;
+
+ // button to change robot to the scaling mode
+ public static DigitalButton toggleScaling;
public OI() {
leftJoystick = new Joystick(Constants.OI.LEFT_STICK_PORT);
rightJoystick = new Joystick(Constants.OI.RIGHT_STICK_PORT);
- decrementSpeed = new JoystickButton(rightJoystick,
- Constants.OI.DECREMENT_SHOOTER_PORT);
+ passPortcullis = new DigitalButton(new DigitalInput(
+ Constants.OI.PASS_PORTCULLIS_PORT));
+ passPortcullis.whenPressed(new PassPortcullis());
- incrementSpeed = new JoystickButton(rightJoystick,
- Constants.OI.INCREMENT_SHOOTER_PORT);
+ passChevalDeFrise = new DigitalButton(new DigitalInput(
+ Constants.OI.PASS_CHEVAL_DE_FRISE_PORT));
+ passChevalDeFrise.whenPressed(new PassChevalDeFrise());
- outputCurrentShooterSpeed = new JoystickButton(rightJoystick,
- Constants.OI.SHOOTER_PORT);
+ passDrawbridge = new DigitalButton(new DigitalInput(
+ Constants.OI.PASS_DRAWBRIDGE_PORT));
+ passDrawbridge.whenPressed(new PassDrawBridge());
- runWheel = new JoystickButton(rightJoystick, Constants.OI.TRIGGER_PORT);
+ passSallyPort = new DigitalButton(new DigitalInput(
+ Constants.OI.PASS_SALLYPORT_PORT));
+ passSallyPort.whenPressed(new PassSallyPort());
- incrementSpeed.whenPressed(new changeSpeed(0.1));
+ lowerChevalDeFrise = new DigitalButton(new DigitalInput(
+ Constants.OI.ARCADE_INTAKEARM_LEVEL_ONE_PORT));
+ lowerChevalDeFrise.whenPressed(new MoveIntakeArmToAngle(
+ IntakeArm.potAngles[0], IntakeArm.moveIntakeArmSpeed));
- decrementSpeed.whenPressed(new changeSpeed(-0.1));
+ 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) {
+ 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());
+ }
+ }
}