From a28e24c71f76b39e7ab73fb3e8932acb0c694ae8 Mon Sep 17 00:00:00 2001 From: Cindy Zhang Date: Sat, 20 Feb 2016 21:32:11 -0800 Subject: [PATCH] comment out necessary stuff in OI --- src/org/usfirst/frc/team3501/robot/OI.java | 181 ++++++++---------- src/org/usfirst/frc/team3501/robot/Robot.java | 5 +- 2 files changed, 84 insertions(+), 102 deletions(-) diff --git a/src/org/usfirst/frc/team3501/robot/OI.java b/src/org/usfirst/frc/team3501/robot/OI.java index aa58ffcc..e2d82165 100644 --- a/src/org/usfirst/frc/team3501/robot/OI.java +++ b/src/org/usfirst/frc/team3501/robot/OI.java @@ -1,26 +1,7 @@ package org.usfirst.frc.team3501.robot; -import org.usfirst.frc.team3501.robot.commands.auton.CompactRobot; -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.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.commands.shooter.runShooter; -import org.usfirst.frc.team3501.robot.subsystems.IntakeArm; - -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; public class OI { public static Joystick leftJoystick; @@ -57,86 +38,86 @@ 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.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()); - } + // 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()); + // } } } diff --git a/src/org/usfirst/frc/team3501/robot/Robot.java b/src/org/usfirst/frc/team3501/robot/Robot.java index 9bc45b8f..8beb817d 100644 --- a/src/org/usfirst/frc/team3501/robot/Robot.java +++ b/src/org/usfirst/frc/team3501/robot/Robot.java @@ -1,6 +1,7 @@ package org.usfirst.frc.team3501.robot; import org.usfirst.frc.team3501.robot.Constants.Defense; +import org.usfirst.frc.team3501.robot.commands.driving.JoystickDrive; import org.usfirst.frc.team3501.robot.subsystems.DefenseArm; import org.usfirst.frc.team3501.robot.subsystems.DriveTrain; import org.usfirst.frc.team3501.robot.subsystems.IntakeArm; @@ -25,7 +26,7 @@ public class Robot extends IterativeRobot { // Sendable Choosers send a drop down menu to the Smart Dashboard. SendableChooser positionChooser; SendableChooser positionOneDefense, positionTwoDefense, positionThreeDefense, - positionFourDefense, positionFiveDefense; + positionFourDefense, positionFiveDefense; @Override public void robotInit() { @@ -137,7 +138,7 @@ public class Robot extends IterativeRobot { @Override public void teleopInit() { - // Scheduler.getInstance().add(new JoystickDrive()); + Scheduler.getInstance().add(new JoystickDrive()); } -- 2.30.2