Prepare for intake arm test

[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 cb7e12d9b3120c094e24f39869be0d6deea94cf6..5af84ac1bcc653c1f187781054fa1cb3e0cf7be4 100644 (file)
--- a/src/org/usfirst/frc/team3501/robot/OI.java
+++ b/src/org/usfirst/frc/team3501/robot/OI.java
@@ -1,6 +1,9 @@
 package org.usfirst.frc.team3501.robot;
 
 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 edu.wpi.first.wpilibj.Joystick;
 import edu.wpi.first.wpilibj.buttons.Button;
@@ -10,42 +13,88 @@ public class OI {
   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 toggleScaling;
+  //
+  // // 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);
 
-    toggleGear = new JoystickButton(rightJoystick,
-        Constants.OI.RIGHT_JOYSTICK_TRIGGER_PORT);
+    toggleGear = new JoystickButton(leftJoystick,
+        Constants.OI.LEFT_JOYSTICK_TOP_CENTER_PORT);
     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());