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package org.usfirst.frc.team3695.robot;
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import edu.wpi.first.wpilibj.DriverStation;
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import edu.wpi.first.wpilibj.Joystick;
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import edu.wpi.first.wpilibj.buttons.Button;
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import edu.wpi.first.wpilibj.buttons.JoystickButton;
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import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
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import org.usfirst.frc.team3695.robot.commands.*;
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import org.usfirst.frc.team3695.robot.enumeration.Mast;
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import org.usfirst.frc.team3695.robot.enumeration.Position;
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import org.usfirst.frc.team3695.robot.util.Util;
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import org.usfirst.frc.team3695.robot.util.Xbox;
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/** the Operator Interface setup */
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public class OI {
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public static final Joystick DRIVER = new Joystick(0);
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public static final Joystick OPERATOR = new Joystick(1);
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/** assigns what every SmartDash and controller button does */
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public OI() {
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/// manipulator wheels
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Button spinIn = new JoystickButton(OPERATOR, Xbox.RB);
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spinIn.whileHeld(new ButtonCommandEat());
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Button spinOut = new JoystickButton(OPERATOR, Xbox.LB);
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spinOut.whileHeld(new ButtonCommandSpit());
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/// manipulator clamp
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Button toggleClamp = new JoystickButton(OPERATOR, Xbox.A);
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toggleClamp.toggleWhenActive(new ToggleCommandClamp());
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/// candy cane
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Button toggleHook = new JoystickButton(OPERATOR, Xbox.B);
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toggleHook.toggleWhenActive(new ToggleCommandHook());
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/// drop the mast
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Button dropIt = new JoystickButton(OPERATOR, Xbox.X);
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dropIt.toggleWhenPressed(new ButtonCommandHitTheDeck());
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/// Reversing mode
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Button toggleReverse = new JoystickButton(DRIVER, Xbox.Y);
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toggleReverse.toggleWhenPressed(new ToggleCommandReverse());
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/// Docking mode
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Button toggleDock = new JoystickButton(DRIVER, Xbox.X);
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toggleDock.toggleWhenPressed(new ToggleCommandDock());
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/// To Compress, or Not To Compress. It is now an option.
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SmartDashboard.putData("Disable Compressor", new ToggleCommandKillCompressor());
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/// PID
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SmartDashboard.putData("Kill PID", new ToggleCommandKillPID());
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SmartDashboard.putNumber("Right Encoder Position", 0);
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SmartDashboard.putNumber("Left Encoder Position", 0);
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/// limit switch displays
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SmartDashboard.putBoolean("Lower Screw", true);
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SmartDashboard.putBoolean("Upper Screw", false);
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SmartDashboard.putBoolean("Lower Pinion", true);
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SmartDashboard.putBoolean("Upper Pinion", false);
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SmartDashboard.putNumber("Left inches", 0);
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SmartDashboard.putNumber("Right inches", 0);
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DriverStation.reportWarning("OI IS INSTANTIATED", false);
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/// Cyborg command testers
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SmartDashboard.putData("Drive Direct", new CyborgCommandDriveDirect(Util.getAndSetDouble("Drive Direct Power", 0)));
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SmartDashboard.putData("Drive Distance", new CyborgCommandDriveDistance(Util.getAndSetDouble("Drive Distance Inches", 0)));
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SmartDashboard.putData("Drive Until Error", new CyborgCommandDriveUntilError());
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SmartDashboard.putData("Rotate Degree", new CyborgCommandRotateDegrees(Util.getAndSetDouble("Rotate Degrees", 0)));
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SmartDashboard.putData("Spit", new CyborgCommandSpit((long)Util.getAndSetDouble("Spit Time", 500)));
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SmartDashboard.putData("Raise to Position: Pinion Up", new CyborgCommandGrow(Mast.PINION_UP));
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SmartDashboard.putData("Raise to Position: Pinion Down", new CyborgCommandGrow(Mast.PINION_DOWN));
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SmartDashboard.putData("Raise to Position: Screw Up", new CyborgCommandGrow(Mast.SCREW_UP));
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SmartDashboard.putData("Raise to Position: Screw Down", new CyborgCommandGrow(Mast.SCREW_DOWN));
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}
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} |
wh1ter0se /
PowerUp-2018
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