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;
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 = 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,
toggleScaling.whenPressed(new ToggleScaling());
if (!Constants.Scaler.SCALING) {
- toggleShooter.toggleWhenPressed(new runShooter());
compactRobot_1.whenPressed(new CompactRobot());
compactRobot_2.whenPressed(new CompactRobot());
// intake button stops the winch
// shoot button extends the lift
toggleShooter.whenPressed(new RunWinchContinuous(
- Constants.Scaler.WINCH_IN_SPEED, Constants.Scaler.WINCH_TIMEOUT));
+ Constants.Scaler.SCALE_SPEED, Constants.Scaler.SECONDS_TO_SCALE));
compactRobot_1.whenPressed(new RetractLift());
compactRobot_2.whenPressed(new RetractLift());