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 aa58ffccde0c62a84520a6426eeaf1a3154be266..3eb1c1f5ebac159a2962441f99f077d1726fc56a 100644 (file)
--- a/src/org/usfirst/frc/team3501/robot/OI.java
+++ b/src/org/usfirst/frc/team3501/robot/OI.java
@@ -14,7 +14,6 @@ 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.commands.shooter.runShooter;
 import org.usfirst.frc.team3501.robot.subsystems.IntakeArm;
 
 import edu.wpi.first.wpilibj.DigitalInput;
@@ -57,50 +56,48 @@ public class 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 = 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 = 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 = new DigitalButton(new DigitalInput(
+        Constants.OI.PASS_DRAWBRIDGE_PORT));
     passDrawbridge.whenPressed(new PassDrawBridge());
 
-    passSallyPort = new DigitalButton(
-        new DigitalInput(Constants.OI.PASS_SALLYPORT_PORT));
+    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 = 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 = 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 = 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 = 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 = new JoystickButton(leftJoystick, Constants.OI.SPIN1_PORT);
     SpinRobot180_1.whenPressed(new Turn180());
 
-    SpinRobot180_2 = new JoystickButton(leftJoystick,
-        Constants.OI.SPIN2_PORT);
+    SpinRobot180_2 = new JoystickButton(leftJoystick, Constants.OI.SPIN2_PORT);
     SpinRobot180_2.whenPressed(new Turn180());
 
     compactRobot_1 = new JoystickButton(leftJoystick,
@@ -113,12 +110,11 @@ public class OI {
     shootBoulder = new JoystickButton(rightJoystick,
         Constants.OI.RIGHT_JOYSTICK_THUMB_PORT);
 
-    toggleScaling = new DigitalButton(
-        new DigitalInput(Constants.OI.TOGGLE_SCALING_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());