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;
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);
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) {
--- /dev/null
+package org.usfirst.frc.team3501.robot.commands.intakearm;
+
+import org.usfirst.frc.team3501.robot.Constants;
+import org.usfirst.frc.team3501.robot.Robot;
+
+import edu.wpi.first.wpilibj.DoubleSolenoid.Value;
+import edu.wpi.first.wpilibj.command.Command;
+
+/**
+ * This command will expand or retract the intake arm's pistons depending on the
+ * specified direction the intake arm should move
+ */
+public class MoveIntakeArm extends Command {
+
+ public MoveIntakeArm(Value direction) {
+
+ if (direction == Constants.IntakeArm.EXTEND)
+ Robot.intakeArm.extendPistons();
+ else
+ Robot.intakeArm.retractPistons();
+ }
+
+ @Override
+ protected void initialize() {
+ }
+
+ @Override
+ protected void execute() {
+ }
+
+ @Override
+ protected boolean isFinished() {
+ return false;
+ }
+
+ @Override
+ protected void end() {
+ }
+
+ @Override
+ protected void interrupted() {
+ }
+}