make extend and retract intake arm piston methods and a command

[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 cb23990c52fdbac76ed9319141505cd52cd8c599..491b71c61946103034c9841697e420dca814a5e8 100644 (file)
--- a/src/org/usfirst/frc/team3501/robot/OI.java
+++ b/src/org/usfirst/frc/team3501/robot/OI.java
@@ -7,15 +7,12 @@ 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;
@@ -73,34 +70,15 @@ public class OI {
         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,
@@ -118,7 +96,6 @@ public class OI {
     toggleScaling.whenPressed(new ToggleScaling());
 
     if (!Constants.Scaler.SCALING) {
-      toggleShooter.toggleWhenPressed(new runShooter());
       compactRobot_1.whenPressed(new CompactRobot());
       compactRobot_2.whenPressed(new CompactRobot());
 
@@ -131,7 +108,7 @@ public class OI {
       // 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());