From 52ef246c3346c0f22feab2aa89cfeb39aeb8dcc1 Mon Sep 17 00:00:00 2001 From: Kevin Zhang Date: Mon, 15 Feb 2016 11:25:34 -0800 Subject: [PATCH] Fix formatting and stuff --- .../usfirst/frc/team3501/robot/Constants.java | 12 ++- src/org/usfirst/frc/team3501/robot/OI.java | 73 +++++++++---------- .../robot/commands/scaler/ToggleScaling.java | 35 +++++++++ 3 files changed, 78 insertions(+), 42 deletions(-) create mode 100644 src/org/usfirst/frc/team3501/robot/commands/scaler/ToggleScaling.java diff --git a/src/org/usfirst/frc/team3501/robot/Constants.java b/src/org/usfirst/frc/team3501/robot/Constants.java index 59bbcca3..9c666016 100644 --- a/src/org/usfirst/frc/team3501/robot/Constants.java +++ b/src/org/usfirst/frc/team3501/robot/Constants.java @@ -17,7 +17,7 @@ public class Constants { public final static int PASS_PORTCULLIS_PORT = 0; public final static int PASS_CHEVAL_DE_FRISE_PORT = 0; - public final static int PASS_DRAWBRIDGE = 0; + public final static int PASS_DRAWBRIDGE_PORT = 0; public final static int PASS_SALLYPORT_PORT = 0; public final static int ARCADE_INTAKEARM_LEVEL_ONE_PORT = 0; @@ -26,15 +26,16 @@ public class Constants { public final static int ARCADE_INTAKEARM_LEVEL_FOUR_PORT = 0; public final static int LEFT_JOYSTICK_TRIGGER_PORT = 0; - public final static int LEFT_JOYSTICK_TOP_LEFT_PORT = 4; - public final static int LEFT_JOYSTICK_TOP_RIGHT_PORT = 5; + public final static int SPIN1_PORT = 4; + public final static int SPIN2_PORT = 5; public final static int LEFT_JOYSTICK_TOP_CENTER_PORT = 3; public final static int LEFT_JOYSTICK_TOP_LOW_PORT = 2; public final static int RIGHT_JOYSTICK_TRIGGER_PORT = 0; public final static int RIGHT_JOYSTICK_THUMB_PORT = 2; - public final static int SCALING_BUTTON_PORT = 0; + public final static int TOGGLE_SCALING_PORT = 0; + } public static class DriveTrain { @@ -85,6 +86,9 @@ public class Constants { public final static double WINCH_STOP_SPEED = 0.0; public final static double WINCH_IN_SPEED = 0; public final static double SECONDS_TO_CLAMP = 2.0; + + public static boolean SCALING = false; + } public static class Shooter { diff --git a/src/org/usfirst/frc/team3501/robot/OI.java b/src/org/usfirst/frc/team3501/robot/OI.java index 4cd6450f..f72a6043 100644 --- a/src/org/usfirst/frc/team3501/robot/OI.java +++ b/src/org/usfirst/frc/team3501/robot/OI.java @@ -12,6 +12,7 @@ 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; @@ -20,7 +21,6 @@ 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; @@ -54,7 +54,7 @@ public class OI { public static Button shootBoulder; // button to change robot to the scaling mode - public static DigitalButton toggleScalingMode; + public static DigitalButton toggleScaling; public OI() { leftJoystick = new Joystick(Constants.OI.LEFT_STICK_PORT); @@ -62,28 +62,50 @@ public class OI { 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)); + 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.LEFT_JOYSTICK_TOP_LEFT_PORT); + Constants.OI.SPIN1_PORT); + SpinRobot180_1.whenPressed(new Turn180()); + SpinRobot180_2 = new JoystickButton(leftJoystick, - Constants.OI.LEFT_JOYSTICK_TOP_RIGHT_PORT); + 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, @@ -94,37 +116,11 @@ public class OI { 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(new MoveIntakeArmToAngle( - IntakeArm.potAngles[0], IntakeArm.moveIntakeArmSpeed)); - moveToIntakeBoulder.whenPressed(new MoveIntakeArmToAngle( - IntakeArm.potAngles[1], IntakeArm.moveIntakeArmSpeed)); - poiseAboveChevalDeFrise.whenPressed(new MoveIntakeArmToAngle( - IntakeArm.potAngles[2], IntakeArm.moveIntakeArmSpeed)); - moveIntakeArmInsideRobot.whenPressed(new MoveIntakeArmToAngle( - IntakeArm.potAngles[3], IntakeArm.moveIntakeArmSpeed)); - - 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()); - } - } + toggleScaling = new DigitalButton( + new DigitalInput(Constants.OI.TOGGLE_SCALING_PORT)); + toggleScaling.whenPressed(new ToggleScaling()); - if (!isScalingMode) { + if (!Constants.Scaler.SCALING) { toggleShooter.toggleWhenPressed(new runShooter()); compactRobot_1.whenPressed(new CompactRobot()); compactRobot_2.whenPressed(new CompactRobot()); @@ -133,6 +129,10 @@ public class OI { shootBoulder.whenPressed(new Shoot()); } else if (isScalingMode) { + // 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.WINCH_IN_SPEED)); compactRobot_1.whenPressed(new RetractLift()); @@ -141,8 +141,5 @@ public class OI { intakeBoulder.whenReleased(new StopWinch()); shootBoulder.whenPressed(new ExtendLift()); } - - SpinRobot180_1.whenPressed(new Turn180()); - SpinRobot180_2.whenPressed(new Turn180()); } } diff --git a/src/org/usfirst/frc/team3501/robot/commands/scaler/ToggleScaling.java b/src/org/usfirst/frc/team3501/robot/commands/scaler/ToggleScaling.java new file mode 100644 index 00000000..a3ee9d4f --- /dev/null +++ b/src/org/usfirst/frc/team3501/robot/commands/scaler/ToggleScaling.java @@ -0,0 +1,35 @@ +package org.usfirst.frc.team3501.robot.commands.scaler; + +import org.usfirst.frc.team3501.robot.Constants; + +import edu.wpi.first.wpilibj.command.Command; + +public class ToggleScaling extends Command { + public ToggleScaling() { + + } + + @Override + protected void initialize() { + Constants.Scaler.SCALING = !Constants.Scaler.SCALING; + } + + @Override + protected void execute() { + + } + + @Override + protected boolean isFinished() { + return true; + } + + @Override + protected void end() { + } + + @Override + protected void interrupted() { + end(); + } +} -- 2.30.2