package org.usfirst.frc.team3501.robot;
-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.intakearm.IntakeBall;
-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.driving.ChangeGear;
+import org.usfirst.frc.team3501.robot.commands.intakearm.RunBothIntakeMotors;
+import org.usfirst.frc.team3501.robot.commands.intakearm.RunIntakeMotor;
import org.usfirst.frc.team3501.robot.commands.shooter.Shoot;
-import org.usfirst.frc.team3501.robot.commands.shooter.runShooter;
-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;
- // 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;
-
+ public static Button leftIntakeArmMotorUp;
+ public static Button leftIntakeArmMotorDown;
+ public static Button rightIntakeArmMotorUp;
+ public static Button rightIntakeArmMotorDown;
+ public static Button bothIntakeArmMotorUp;
+ public static Button bothIntakeArmMotorDown;
+
+ // // 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;
+ public static Button toggleGear;
- // button to change robot to the scaling mode
- public static DigitalButton toggleScalingMode;
+ //
+ // // 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));
- 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));
-
- 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);
- compactRobot_1 = new JoystickButton(leftJoystick,
+ toggleGear = 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);
-
- toggleScalingMode = new DigitalButton(
- new DigitalInput(Constants.OI.SCALING_BUTTON_PORT));
-
- 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());
- compactRobot_1.whenPressed(new CompactRobot());
-
- intakeBoulder.whenPressed(new IntakeBall());
- shootBoulder.whenPressed(new Shoot());
-
- } else if (isScalingMode) {
- toggleShooter.whenPressed(new RunWinchContinuous(
- Constants.Scaler.WINCH_IN_SPEED));
- compactRobot_1.whenPressed(new RetractLift());
-
- intakeBoulder.whenReleased(new StopWinch());
- shootBoulder.whenPressed(new ExtendLift());
- }
-
- SpinRobot180_1
- .whenPressed(/* rotate robot 180, reorient joystick controls */);
+ toggleGear.toggleWhenPressed(new ChangeGear());
+ shootBoulder = new JoystickButton(leftJoystick,
+ Constants.OI.LEFT_JOYSTICK_TRIGGER_PORT);
+ shootBoulder.whenPressed(new Shoot());
+
+ leftIntakeArmMotorUp = new JoystickButton(leftJoystick,
+ Constants.OI.LEFT_JOYSTICK_BOTTOM_LEFT_FORWARD_BUTTON);
+ leftIntakeArmMotorUp
+ .whenPressed(new RunIntakeMotor(
+ Robot.intakeArm.getLeftIntakeArmMotor(),
+ Constants.IntakeArm.DEFAULT_INTAKE_ARM_SPEED));
+ leftIntakeArmMotorDown = new JoystickButton(leftJoystick,
+ Constants.OI.LEFT_JOYSTICK_BOTTOM_LEFT_BACK_BUTTON);
+ leftIntakeArmMotorDown
+ .whenPressed(new RunIntakeMotor(
+ Robot.intakeArm.getLeftIntakeArmMotor(),
+ -Constants.IntakeArm.DEFAULT_INTAKE_ARM_SPEED));
+
+ rightIntakeArmMotorUp = new JoystickButton(leftJoystick,
+ Constants.OI.LEFT_JOYSTICK_BOTTOM_RIGHT_FORWARD_BUTTON);
+ rightIntakeArmMotorUp
+ .whenPressed(new RunIntakeMotor(Robot.intakeArm
+ .getRightIntakeArmMotor(),
+ Constants.IntakeArm.DEFAULT_INTAKE_ARM_SPEED));
+ rightIntakeArmMotorDown = new JoystickButton(leftJoystick,
+ Constants.OI.LEFT_JOYSTICK_BOTTOM_RIGHT_BACK_BUTTON);
+ rightIntakeArmMotorDown.whenPressed(new RunIntakeMotor(Robot.intakeArm
+ .getRightIntakeArmMotor(),
+ -Constants.IntakeArm.DEFAULT_INTAKE_ARM_SPEED));
+
+ bothIntakeArmMotorUp = new JoystickButton(leftJoystick,
+ Constants.OI.LEFT_JOYSTICK_BOTTOM_BACK_LEFT_BUTTON);
+ bothIntakeArmMotorUp.whenPressed(new RunBothIntakeMotors(
+ Constants.IntakeArm.DEFAULT_INTAKE_ARM_SPEED));
+ bothIntakeArmMotorDown = new JoystickButton(leftJoystick,
+ Constants.OI.LEFT_JOYSTICK_BOTTOM_BACK_RIGHT_BUTTON);
+ bothIntakeArmMotorDown.whenPressed(new RunBothIntakeMotors(
+ -Constants.IntakeArm.DEFAULT_INTAKE_ARM_SPEED));
+
+ // 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) {
+ // toggleShooter.toggleWhenPressed(new runShooter());
+ // 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());
+ // }
}
}