X-Git-Url: http://challenge-bot.com/repos/?p=3501%2Fstronghold-2016;a=blobdiff_plain;f=src%2Forg%2Fusfirst%2Ffrc%2Fteam3501%2Frobot%2FOI.java;h=491b71c61946103034c9841697e420dca814a5e8;hp=3eb1c1f5ebac159a2962441f99f077d1726fc56a;hb=2781cca0354e26f8c5a6150d6b5179d300d479e1;hpb=027452180cc75fa58cd6305d9eb351ec64b2345f

diff --git a/src/org/usfirst/frc/team3501/robot/OI.java b/src/org/usfirst/frc/team3501/robot/OI.java
index 3eb1c1f5..491b71c6 100644
--- a/src/org/usfirst/frc/team3501/robot/OI.java
+++ b/src/org/usfirst/frc/team3501/robot/OI.java
@@ -7,14 +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.subsystems.IntakeArm;
 
 import edu.wpi.first.wpilibj.DigitalInput;
 import edu.wpi.first.wpilibj.Joystick;
@@ -56,41 +54,24 @@ public class 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));
+    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 = 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 = new DigitalButton(
+        new DigitalInput(Constants.OI.PASS_DRAWBRIDGE_PORT));
     passDrawbridge.whenPressed(new PassDrawBridge());
 
-    passSallyPort = new DigitalButton(new DigitalInput(
-        Constants.OI.PASS_SALLYPORT_PORT));
+    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));
+    moveToIntakeBoulder = new DigitalButton(
+        new DigitalInput(Constants.OI.ARCADE_INTAKEARM_LEVEL_TWO_PORT));
 
     toggleShooter = new JoystickButton(leftJoystick,
         Constants.OI.LEFT_JOYSTICK_TRIGGER_PORT);
@@ -110,8 +91,8 @@ public class OI {
     shootBoulder = new JoystickButton(rightJoystick,
         Constants.OI.RIGHT_JOYSTICK_THUMB_PORT);
 
-    toggleScaling = new DigitalButton(new DigitalInput(
-        Constants.OI.TOGGLE_SCALING_PORT));
+    toggleScaling = new DigitalButton(
+        new DigitalInput(Constants.OI.TOGGLE_SCALING_PORT));
     toggleScaling.whenPressed(new ToggleScaling());
 
     if (!Constants.Scaler.SCALING) {