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.commands.shooter.runShooter;
+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;
-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;
public static Button shootBoulder;
// 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));
+ 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.LEFT_JOYSTICK_TOP_LEFT_PORT);
- SpinRobot180_2 = new JoystickButton(leftJoystick,
- Constants.OI.LEFT_JOYSTICK_TOP_RIGHT_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,
shootBoulder = new JoystickButton(rightJoystick,
Constants.OI.RIGHT_JOYSTICK_THUMB_PORT);
- toggleScalingMode = new DigitalButton(
- new DigitalInput(Constants.OI.SCALING_BUTTON_PORT));
+ toggleScaling = new DigitalButton(new DigitalInput(
+ Constants.OI.TOGGLE_SCALING_PORT));
+ toggleScaling.whenPressed(new ToggleScaling());
- 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());
+ if (!Constants.Scaler.SCALING) {
compactRobot_1.whenPressed(new CompactRobot());
+ compactRobot_2.whenPressed(new CompactRobot());
intakeBoulder.whenPressed(new IntakeBall());
shootBoulder.whenPressed(new Shoot());
- } else if (isScalingMode) {
+ } 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.WINCH_IN_SPEED));
+ 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());
}
-
- SpinRobot180_1
- .whenPressed(/* rotate robot 180, reorient joystick controls */);
-
}
}