Change shooter to function off of two pistons, remove punch, shooter motors, and...

[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 997be71cdbe551afe2477d093f6172a28c1cfe26..3eb1c1f5ebac159a2962441f99f077d1726fc56a 100644 (file)
--- a/src/org/usfirst/frc/team3501/robot/OI.java
+++ b/src/org/usfirst/frc/team3501/robot/OI.java
@@ -1,14 +1,138 @@
 package org.usfirst.frc.team3501.robot;
 
+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;
 
+  // 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);
 
+    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) {
+      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());
+    }
   }
 }