mirror of
https://github.com/Team4388/2018-Robot.git
synced 2026-06-08 16:28:06 -06:00
Dave Staudacher
480 lines
24 KiB
Java
480 lines
24 KiB
Java
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package org.usfirst.frc4388.robot;
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//
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//import org.usfirst.frc4388.buttons.XBoxDPadTriggerButton;
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import buttons.XBoxTriggerButton;
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import org.usfirst.frc4388.controller.IHandController;
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import org.usfirst.frc4388.controller.XboxController;
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import org.usfirst.frc4388.robot.commands.*;
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import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
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import edu.wpi.first.wpilibj.GenericHID;
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import edu.wpi.first.wpilibj.Joystick;
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import edu.wpi.first.wpilibj.buttons.*;
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import org.usfirst.frc4388.robot.subsystems.*;
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import org.usfirst.frc4388.utility.MPSoftwarePIDController.MPSoftwareTurnType;
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import org.usfirst.frc4388.robot.subsystems.Drive;
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import org.usfirst.frc4388.utility.MPSoftwarePIDController.MPSoftwareTurnType;
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import edu.wpi.first.wpilibj.buttons.Button;
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import edu.wpi.first.wpilibj.buttons.InternalButton;
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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 jaci.pathfinder.Pathfinder;
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public class OI
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{
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private static OI instance;
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private XboxController m_driverXbox;
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private XboxController m_operatorXbox;
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private OI()
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{
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try
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{
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// Driver controller
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m_driverXbox = new XboxController(RobotMap.DRIVER_JOYSTICK_1_USB_ID);
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m_operatorXbox = new XboxController(RobotMap.OPERATOR_JOYSTICK_1_USB_ID);
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//ELevator PID buttons
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//JoystickButton elevatorMaxScaleHeight = new JoystickButton(m_operatorXbox.getJoyStick(), XboxController.Y_BUTTON);
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//elevatorMaxScaleHeight.whenPressed(new PositionPIDMaxScaleHeight(50));
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//JoystickButton elevatorLowScaleHeight = new JoystickButton(m_operatorXbox.getJoyStick(), XboxController.X_BUTTON);
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//elevatorLowScaleHeight.whenPressed(new PositionPIDLowScaleHeight(50));
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//JoystickButton elevatorSwitchHeight = new JoystickButton(m_operatorXbox.getJoyStick(), XboxController.B_BUTTON);
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//elevatorSwitchHeight.whenPressed(new PositionPIDLowScaleHeight(50));
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/*
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JoystickButton elevatorLowestHeight = new JoystickButton(m_operatorXbox.getJoyStick(), XboxController.A_BUTTON);
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elevatorLowestHeight.whenPressed(new PositionPIDLowScaleHeight(50));
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*/
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//JoystickButton shiftDrivetrain = new JoystickButton(m_driverXbox.getJoyStick(), XboxController.LEFT_BUMPER_BUTTON);
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//shiftDrivetrain.whenPressed(new DriveSpeedShift(Drive.SpeedShiftState.HI));
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//shiftDrivetrain.whenReleased(new DriveSpeedShift(Drive.SpeedShiftState.LO));
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//JoystickButton longShot = new JoystickButton(m_driverXbox.getJoyStick(), XboxController.RIGHT_BUMPER_BUTTON);
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//longShot.whenPressed(new ShootOn(ShotState.FAR, ShooterFeed.SHOOTER_FEED_SHOOT_FAR_SPEED, false));
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//longShot.whenReleased(new ShootOff());
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//XBoxTriggerButton shortShot = new XBoxTriggerButton(m_driverXbox, XBoxTriggerButton.RIGHT_TRIGGER);
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//shortShot.whenPressed(new ShootOn(ShotState.CLOSE, ShooterFeed.SHOOTER_FEED_SHOOT_CLOSE_SPEED, false));
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//shortShot.whenReleased(new ShootOff());
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XBoxTriggerButton CarriageIntake = new XBoxTriggerButton(m_operatorXbox, XBoxTriggerButton.LEFT_TRIGGER);
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CarriageIntake.whenPressed(new IntakeSetSpeed(Carriage.CUBE_EJECT_SPEED));
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CarriageIntake.whenReleased(new IntakeSetSpeed(0.0));
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XBoxTriggerButton CarriageEject = new XBoxTriggerButton(m_operatorXbox, XBoxTriggerButton.RIGHT_TRIGGER);
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CarriageEject.whenPressed(new IntakeSetSpeed(Carriage.CUBE_INTAKE_SPEED));
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CarriageEject.whenReleased(new IntakeSetSpeed(0.0));
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//JoystickButton gearIntakeDown = new JoystickButton(m_driverXbox.getJoyStick(), XboxController.X_BUTTON);
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//gearIntakeDown.whenPressed(new IntakeSetPosition(IntakePosition.GEAR_INTAKE));
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//gearIntakeDown.whenReleased(new IntakeSetPosition(IntakePosition.GEAR_PRESENT));
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//JoystickButton gearIntakeRetract = new JoystickButton(m_driverXbox.getJoyStick(), XboxController.Y_BUTTON);
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//gearIntakeRetract.whenPressed(new IntakeSetPosition(IntakePosition.RETRACT));
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//JoystickButton gearIntakePresent = new JoystickButton(m_driverXbox.getJoyStick(), XboxController.B_BUTTON);
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//gearIntakePresent.whenPressed(new IntakeSetPosition(IntakePosition.GEAR_PRESENT));
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//JoystickButton gearIntakeDeploy = new JoystickButton(m_driverXbox.getJoyStick(), XboxController.A_BUTTON);
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//gearIntakeDeploy.whenPressed(new IntakeSetPosition(IntakePosition.GEAR_DEPLOY));
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JoystickButton climbUp = new JoystickButton(m_operatorXbox.getJoyStick(), XboxController.X_BUTTON);
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climbUp.whenPressed(new InitiateClimber(true));
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climbUp.whenReleased(new InitiateClimber(false));
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JoystickButton shiftUp = new JoystickButton(m_driverXbox.getJoyStick(), XboxController.RIGHT_BUMPER_BUTTON);
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shiftUp.whenPressed(new DriveSpeedShift(true));
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shiftUp.whenPressed(new LEDIndicators(true));
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JoystickButton shiftDown = new JoystickButton(m_driverXbox.getJoyStick(), XboxController.LEFT_BUMPER_BUTTON);
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shiftDown.whenPressed(new DriveSpeedShift(false));
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shiftDown.whenPressed(new LEDIndicators(false));
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//XBoxDPadTriggerButton climberReverse = new XBoxDPadTriggerButton(m_driverXbox, XBoxDPadTriggerButton.DOWN);
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//climberReverse.whenPressed(new ClimberSetSpeed(0.48, 0.0));
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//climberReverse.whenReleased(new ClimberSetSpeed(0.0, 0.0));
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//JoystickButton toggleShooter = new JoystickButton(m_driverXbox.getJoyStick(), XboxController.START_BUTTON);
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//toggleShooter.whenPressed(new ShooterSetToggle(Shooter.SHOOTER_STAGE1_RPM_CLOSE, Shooter.SHOOTER_STAGE2_RPM_CLOSE));
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JoystickButton openIntake = new JoystickButton(m_operatorXbox.getJoyStick(), XboxController.LEFT_BUMPER_BUTTON);
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openIntake.whenPressed(new IntakePosition(true));
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JoystickButton CloseIntake = new JoystickButton(m_operatorXbox.getJoyStick(), XboxController.RIGHT_BUMPER_BUTTON);
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CloseIntake.whenPressed(new IntakePosition(false));
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//XBoxTriggerButton shortShotOperator = new XBoxTriggerButton(m_operatorXbox, XBoxTriggerButton.RIGHT_TRIGGER);
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//shortShotOperator.whenPressed(new ShootOn(ShotState.CLOSE, ShooterFeed.SHOOTER_FEED_SHOOT_CLOSE_SPEED, true));
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//shortShotOperator.whenReleased(new ShootOff());
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//XBoxTriggerButton intakeGearOperator = new XBoxTriggerButton(m_operatorXbox, XBoxTriggerButton.LEFT_TRIGGER);
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//intakeGearOperator.whenPressed(new GearIntakeRollerSetSpeed(GearIntake.GEAR_INTAKE_LOAD_SPEED));
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//intakeGearOperator.whenReleased(new GearIntakeRollerSetSpeed(0.0));
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//JoystickButton gearIntakeEjectOperator = new JoystickButton(m_operatorXbox.getJoyStick(), XboxController.LEFT_BUMPER_BUTTON);
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//gearIntakeEjectOperator.whenPressed(new GearIntakeRollerSetSpeed(GearIntake.GEAR_INTAKE_EJECT_SPEED));
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//gearIntakeEjectOperator.whenReleased(new GearIntakeRollerSetSpeed(0.0));
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//JoystickButton gearIntakeDownOperator = new JoystickButton(m_operatorXbox.getJoyStick(), XboxController.X_BUTTON);
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//gearIntakeDownOperator.whenPressed(new IntakeSetPosition(IntakePosition.GEAR_INTAKE));
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//gearIntakeDownOperator.whenReleased(new IntakeSetPosition(IntakePosition.GEAR_PRESENT));
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//JoystickButton gearIntakeRetractOperator = new JoystickButton(m_operatorXbox.getJoyStick(), XboxController.Y_BUTTON);
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//gearIntakeRetractOperator.whenPressed(new IntakeSetPosition(IntakePosition.RETRACT));
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//JoystickButton gearIntakePresentOperator = new JoystickButton(m_operatorXbox.getJoyStick(), XboxController.B_BUTTON);
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//gearIntakePresentOperator.whenPressed(new IntakeSetPosition(IntakePosition.GEAR_PRESENT));
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//JoystickButton gearIntakeDeployOperator = new JoystickButton(m_operatorXbox.getJoyStick(), XboxController.A_BUTTON);
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//gearIntakeDeployOperator.whenPressed(new IntakeSetPosition(IntakePosition.GEAR_DEPLOY));
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//XBoxDPadTriggerButton climberForwardOperator = new XBoxDPadTriggerButton(m_operatorXbox, XBoxDPadTriggerButton.UP);
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//climberForwardOperator.whenPressed(new ClimberSetSpeed(ShooterFeed.CLIMB_SPEED, 0.0));
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//climberForwardOperator.whenReleased(new ClimberSetSpeed(0.0, 0.0));
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//XBoxDPadTriggerButton climberReverseOperator = new XBoxDPadTriggerButton(m_operatorXbox, XBoxDPadTriggerButton.DOWN);
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//climberReverseOperator.whenPressed(new ClimberSetSpeed(0.48, 0.0));
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//climberReverseOperator.whenReleased(new ClimberSetSpeed(0.0, 0.0));
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//XBoxDPadTriggerButton hopperOpen = new XBoxDPadTriggerButton(m_operatorXbox, XBoxDPadTriggerButton.LEFT);
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//hopperOpen.whenPressed(new ShooterSetHopperPosition(HopperState.OPEN));
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//XBoxDPadTriggerButton hopperClose = new XBoxDPadTriggerButton(m_operatorXbox, XBoxDPadTriggerButton.RIGHT);
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//hopperClose.whenPressed(new ShooterSetHopperPosition(HopperState.CLOSE));
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//JoystickButton toggleShooterOperator = new JoystickButton(m_operatorXbox.getJoyStick(), XboxController.START_BUTTON);
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//toggleShooterOperator.whenPressed(new ShooterSetToggle(Shooter.SHOOTER_STAGE1_RPM_CLOSE, Shooter.SHOOTER_STAGE2_RPM_CLOSE));
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// Gear sensor switch
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// GearSensorAnalogSwitch gearSwitch = new GearSensorAnalogSwitch();
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// gearSwitch.whenPressed(new IntakeSetPosition(IntakePosition.GEAR_PRESENT));
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// SmartDashboard
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// Button driveMP = new InternalButton();
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// driveMP.whenPressed(new DriveStraightMP(40, 20, true, false, 0));
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// SmartDashboard.putData("Drive Straight", driveMP);
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//SmartDashboard.putData("Drive Straight 30in", new DriveStraightMP(30, 20, true, true, 0));
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//SmartDashboard.putData("Drive Straight 60in", new DriveStraightMP(60, 20, true, true, 0));
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//SmartDashboard.putData("Basic Straight 60in", new DriveStraightBasic(60, 30, true, true, 0));
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//SmartDashboard.putData("Basic Straight -60in", new DriveStraightBasic(-60, 30, true, true, 0));
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//SmartDashboard.putData("Turn abs 90 TANK", new DriveTurnBasic(true, 90, 90, MPSoftwareTurnType.TANK));
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// SmartDashboard.putData("Turn rel -90 RIGHT ONLY", new DriveTurnBasic(false, -90, 90, MPSoftwareTurnType.RIGHT_SIDE_ONLY));
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//SmartDashboard.putData("RUN INTAKE", new IntakeSetSpeed(Carriage.CUBE_EJECT_SPEED));
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// SmartDashboard.putData("Stop INTAKE", new IntakeSetSpeed(Carriage.CUBE_STOP_SPEED));
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//SmartDashboard.putData("move intake", new IntakePosition(true));
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//SmartDashboard.putData("move intake2", new IntakePosition(false));
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//SmartDashboard.putData("Move Stop", new ElevatorSetSpeed(ElevatorAuton.RAISE_ELEVATOR_SPEED));
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SmartDashboard.putData("move elevator", new ElevatorBasic(20, 15));
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///SmartDashboard.putData("Move Down", new ElevatorSetSpeed(ElevatorAuton.LOWER_ELEVATOR_SPEED));
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///SmartDashboard.putData("Move UP", new ElevatorSetSpeed(ElevatorAuton.STOP_ELEVATOR_SPEED));
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//SmartDashboard.putData("MP Move", new DriveStraightMP(-60, 30, true, true, 0)); // forward , back to right
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//SmartDashboard.putData("MP Move", new DriveStraightMP(-50, 30, true, true, 0)); // forward, back to the right
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//SmartDashboard.putData("MP Move", new DriveStraightMP(-40, 30, true, true, 0)); //same af -50
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//SmartDashboard.putData("MP Move", new DriveStraightMP(-30, 30, true, true, 0));// same as above shorter
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//SmartDashboard.putData("MP Move", new DriveStraightMP(-60, 20, true, true, 0));// could not break ininita
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//SmartDashboard.putData("MP Move", new DriveStraightMP(100, 20, true, true, 0));
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//SmartDashboard.putData("MP Move", new DriveStraightMP(-60, 30, true, true, 0));
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//SmartDashboard.putData("MP Move", new DriveStraightMP(-60, 30, true, true, 0));
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//SmartDashboard.putData("MP Move", new DriveStraightMP(-60, 30, true, true, 0));
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//SmartDashboard.putData("MP Move", new DriveStraightMP(-60, 30, true, true, 0));
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//SmartDashboard.putData("MP Move", new DriveStraightMP(-60, 30, true, true, 0));
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//SmartDashboard.putData("MP Move", new DriveStraightMP(-60, 30, true, true, 0));
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//SmartDashboard.putData("MP Move", new DriveStraightMP(-60, 30, true, true, 0));
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//SmartDashboard.putData("MP Move", new DriveStraightMP(-60, 30, true, true, 0));
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//List<Waypoint> waypoints = new ArrayList<>();
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//waypoints.add(new Waypoint(new Translation2d(0, 0), 35.0));
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//waypoints.add(new Waypoint(new Translation2d(-35, 0), 35.0));
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//Path.addCircleArc(waypoints, -30.0, 45.0, 10, "hopperSensorOn");
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//waypoints.add(new Waypoint(new Translation2d(-85, -30), 35.0));
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// List<Waypoint> waypoints = new ArrayList<>();
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// waypoints.add(new Waypoint(new Translation2d(-96, 0), 50.0));
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// waypoints.add(new Waypoint(new Translation2d(0, 0), 35.0));
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// waypoints.add(new Waypoint(new Translation2d(-96, 0), 50.0));
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// waypoints.add(new Waypoint(new Translation2d(-61, 0), 50.0));
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// waypoints.add(new Waypoint(new Translation2d(-84.93, -10.16), 50.0));
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// waypoints.add(new Waypoint(new Translation2d(-41, 0), 35.0));
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// waypoints.add(new Waypoint(new Translation2d(-65, -23), 35.0));
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// waypoints.add(new Waypoint(new Translation2d(-70, -39), 35.0));
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// waypoints.add(new Waypoint(new Translation2d(-29, 0), 40.0));
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// Path.addCircleArc(waypoints, -30.0, 45.0, 10, null);
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// waypoints.add(new Waypoint(new Translation2d(-68.6, -26.5), 40.0));
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//Button driveAP = new InternalButton();
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//driveAP.whenPressed(new DrivePathAdaptivePursuit(new Path(waypoints), true));
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//SmartDashboard.putData("Drive Adaptive Pursuit", driveAP);
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//Button driveMM = new InternalButton();
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//driveMM.whenPressed(new DriveStraightMM(10, 450, 450, true, false, 0));
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//SmartDashboard.putData("Drive StraightMM", driveMM);
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//Button turnRelativePID = new InternalButton();
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//turnRelativePID.whenPressed(new DriveRelativeTurnPID(-10, MPSoftwareTurnType.RIGHT_SIDE_ONLY));
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//SmartDashboard.putData("Turn Relative 10 PID", turnRelativePID);
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//Button turnRelativePID7 = new InternalButton();
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//turnRelativePID7.whenPressed(new DriveRelativeTurnPID(7, MPSoftwareTurnType.LEFT_SIDE_ONLY));
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//SmartDashboard.putData("Turn Relative 7 PID", turnRelativePID7);
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//Button turnRelativeMP = new InternalButton();
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//turnRelativeMP.whenPressed(new DriveRelativeTurnMP(10, Drive.MP_AUTON_MAX_TURN_RATE_DEG_PER_SEC, MPSoftwareTurnType.LEFT_SIDE_ONLY ));
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//SmartDashboard.putData("Turn Relative 10", turnRelativeMP);
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Button turnAbsoluteMP = new InternalButton();
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turnAbsoluteMP.whenPressed(new DriveAbsoluteTurnMP(45, Drive.MP_AUTON_MAX_TURN_RATE_DEG_PER_SEC, MPSoftwareTurnType.LEFT_SIDE_ONLY));
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SmartDashboard.putData("Turn Absolute 45", turnAbsoluteMP);
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Button turnRelativePID = new InternalButton();
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turnRelativePID.whenPressed(new DriveRelativeTurnPID(45, MPSoftwareTurnType.TANK));
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SmartDashboard.putData("Turn Relative 45", turnRelativePID);
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// Button gyroReset = new InternalButton();
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// gyroReset.whenPressed(new DriveGyroReset());
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// SmartDashboard.putData("Gyro Reset", gyroReset);
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SmartDashboard.putData("Reset Gyro", new DriveGyroReset());
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//SmartDashboard.putData("reset Encoders", new drive.resetEncoders());
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// Camera
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//Button cameraUpdateDashboard = new InternalButton();
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//cameraUpdateDashboard.whenPressed(new CameraUpdateDashboard());
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//SmartDashboard.putData("Camera Update", cameraUpdateDashboard);
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//Button cameraSaveImage = new InternalButton();
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//cameraSaveImage.whenPressed(new CameraSaveImage());
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//SmartDashboard.putData("Camera Save", cameraSaveImage);
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//Button cameraTurnToBestTarget = new InternalButton();
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//cameraTurnToBestTarget.whenPressed(new CameraTurnToBestTarget());
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//SmartDashboard.putData("Camera Turn To Best", cameraTurnToBestTarget);
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//Button cameraUpdateBestTarget = new InternalButton();
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//cameraUpdateBestTarget.whenPressed(new CameraUpdateBestTarget());
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//SmartDashboard.putData("Camera Update Best", cameraUpdateBestTarget);
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//Button incrementCameraOffsetPos = new InternalButton();
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//incrementCameraOffsetPos.whenPressed(new CameraIncrementOffset(0.5));
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//SmartDashboard.putData("Camera Offset Pos", incrementCameraOffsetPos);
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//Button incrementCameraOffsetNeg = new InternalButton();
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//incrementCameraOffsetNeg.whenPressed(new CameraIncrementOffset(-0.5));
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//SmartDashboard.putData("Camera Offset Neg", incrementCameraOffsetNeg);
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// Button cameraReadImage = new InternalButton();
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// cameraReadImage.whenPressed(new CameraReadAndProcessImage());
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// SmartDashboard.putData("Camera Read", cameraReadImage);
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//
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// Button cameraReadImageTurnToBestTarget = new InternalButton();
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// cameraReadImageTurnToBestTarget.whenPressed(new CameraReadImageTurnToBestTarget());
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// SmartDashboard.putData("Camera Read Turn", cameraReadImageTurnToBestTarget);
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//
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// Button magicCarpetOn05 = new InternalButton();
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// magicCarpetOn05.whenPressed(new ZarkerFeedSetSpeed(0.5));
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// SmartDashboard.putData("Magic Carpet 0.5", magicCarpetOn05);
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//
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// Button magicCarpetOff = new InternalButton();
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// magicCarpetOff.whenPressed(new ZarkerFeedSetSpeed(0.0));
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// SmartDashboard.putData("Magic Carpet Off", magicCarpetOff);
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//
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// Button shooterFeedOn10 = new InternalButton();
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// shooterFeedOn10.whenPressed(new ShooterFeedSetSpeed(1.0));
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// SmartDashboard.putData("Shooter Feed 1.0", shooterFeedOn10);
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//
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// Button shooterFeedOn05 = new InternalButton();
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// shooterFeedOn05.whenPressed(new ShooterFeedSetSpeed(0.5));
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// SmartDashboard.putData("Shooter Feed 0.5", shooterFeedOn05);
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//
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// Button shooterFeedOff = new InternalButton();
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// shooterFeedOff.whenPressed(new ShooterFeedSetSpeed(0.0));
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// SmartDashboard.putData("Shooter Feed Off", shooterFeedOff);
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//
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// Button shooterStage2RPMOnDash = new InternalButton();
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// shooterStage2RPMOnDash.whenPressed(new ShooterStage2SetRpmDashboard());
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// SmartDashboard.putData("Shooter Stage 2 Dash RPM", shooterStage2RPMOnDash);
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//
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// Button shooterStage2On10 = new InternalButton();
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// shooterStage2On10.whenPressed(new ShooterStage2SetSpeed(1.0));
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// SmartDashboard.putData("Shooter Stage 2 - 1.0", shooterStage2On10);
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//
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// Button shooterStage2On09 = new InternalButton();
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// shooterStage2On09.whenPressed(new ShooterStage2SetSpeed(0.9));
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// SmartDashboard.putData("Shooter Stage 2 - 0.9", shooterStage2On09);
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//
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// Button shooterStage2On08 = new InternalButton();
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// shooterStage2On08.whenPressed(new ShooterStage2SetSpeed(0.8));
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// SmartDashboard.putData("Shooter Stage 2 - 0.8", shooterStage2On08);
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//
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// Button shooterStage2On07 = new InternalButton();
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// shooterStage2On07.whenPressed(new ShooterStage2SetSpeed(0.7));
|
|
// SmartDashboard.putData("Shooter Stage 2 - 0.7", shooterStage2On07);
|
|
//
|
|
// Button shooterStage2On06 = new InternalButton();
|
|
// shooterStage2On06.whenPressed(new ShooterStage2SetSpeed(0.6));
|
|
// SmartDashboard.putData("Shooter Stage 2 - 0.6", shooterStage2On06);
|
|
//
|
|
// Button shooterStage2On05 = new InternalButton();
|
|
// shooterStage2On05.whenPressed(new ShooterStage2SetSpeed(0.5));
|
|
// SmartDashboard.putData("Shooter Stage 2 - 0.5", shooterStage2On05);
|
|
//
|
|
// Button shooterStage2Off = new InternalButton();
|
|
// shooterStage2Off.whenPressed(new ShooterStage2SetSpeed(0.0));
|
|
// SmartDashboard.putData("Shooter Stage 2 - Off", shooterStage2Off);
|
|
//
|
|
// Button shooterStage1RPMOnDash = new InternalButton();
|
|
// shooterStage1RPMOnDash.whenPressed(new ShooterStage1SetRpmDashboard());
|
|
// SmartDashboard.putData("Shooter Stage 1 Dash RPM", shooterStage1RPMOnDash);
|
|
//
|
|
// Button shooterStage1On05 = new InternalButton();
|
|
// shooterStage1On05.whenPressed(new ShooterStage1SetSpeed(0.5));
|
|
// SmartDashboard.putData("Shooter Stage 1 - 0.5", shooterStage1On05);
|
|
//
|
|
// Button shooterStage1Off = new InternalButton();
|
|
// shooterStage1Off.whenPressed(new ShooterStage1SetSpeed(0.0));
|
|
// SmartDashboard.putData("Shooter Stage 1 - Off", shooterStage1Off);
|
|
//
|
|
// Button shooterBothRPMOnDash = new InternalButton();
|
|
// shooterBothRPMOnDash.whenPressed(new ShooterSetRpmDashboard());
|
|
// SmartDashboard.putData("Shooter Both Dash RPM", shooterBothRPMOnDash);
|
|
//
|
|
// Button shooterBothVBusOnDash = new InternalButton();
|
|
// shooterBothVBusOnDash.whenPressed(new ShooterSetSpeedDashboard());
|
|
// SmartDashboard.putData("Shooter Both Dash VBus", shooterBothVBusOnDash);
|
|
//
|
|
// Button allButLiftOff = new InternalButton();
|
|
// allButLiftOff.whenPressed(new ShooterAllOff());
|
|
// SmartDashboard.putData("Shooter All Off", allButLiftOff);
|
|
//
|
|
// Button allButLiftOn = new InternalButton();
|
|
// allButLiftOn.whenPressed(new ShooterAllOn());
|
|
// SmartDashboard.putData("Shooter All On", allButLiftOn);
|
|
//
|
|
// Button hopperShake = new InternalButton();
|
|
// hopperShake.whenPressed(new ShooterSetHopperShake(2, 10, 1));
|
|
// SmartDashboard.putData("Hopper Shake Button", hopperShake);
|
|
//
|
|
// Button intakeOn10 = new InternalButton();
|
|
// intakeOn10.whenPressed(new GearIntakeRollerSetSpeed(1.0));
|
|
// SmartDashboard.putData("Intake 1.0", intakeOn10);
|
|
//
|
|
// Button intakeOn08 = new InternalButton();
|
|
// intakeOn08.whenPressed(new GearIntakeRollerSetSpeed(0.8));
|
|
// SmartDashboard.putData("Intake 0.8", intakeOn08);
|
|
//
|
|
// Button intakeOn05 = new InternalButton();
|
|
// intakeOn05.whenPressed(new GearIntakeRollerSetSpeed(0.5));
|
|
// SmartDashboard.putData("Intake 0.5", intakeOn05);
|
|
//
|
|
// Button intakeOn04 = new InternalButton();
|
|
// intakeOn04.whenPressed(new GearIntakeRollerSetSpeed(0.4));
|
|
// SmartDashboard.putData("Intake 0.4", intakeOn04);
|
|
//
|
|
// Button intakeOff = new InternalButton();
|
|
// intakeOff.whenPressed(new GearIntakeRollerSetSpeed(0.0));
|
|
// SmartDashboard.putData("Intake Off", intakeOff);
|
|
//
|
|
// Button shooterShotPositionClose = new InternalButton();
|
|
// shooterShotPositionClose.whenPressed(new ShooterSetShotPosition(Shooter.ShotState.CLOSE));
|
|
// SmartDashboard.putData("Shooter Close Shot", shooterShotPositionClose);
|
|
//
|
|
// Button shooterShotPositionFar = new InternalButton();
|
|
// shooterShotPositionFar.whenPressed(new ShooterSetShotPosition(Shooter.ShotState.FAR));
|
|
// SmartDashboard.putData("Shooter Far Shot", shooterShotPositionFar);
|
|
//
|
|
// Button climberOn08 = new InternalButton();
|
|
// climberOn08.whenPressed(new ClimberSetSpeed(0.8, 0.0));
|
|
// climberOn08.whenReleased(new ClimberSetSpeed(0.0, 0.0));
|
|
// SmartDashboard.putData("Climber 0.8", climberOn08);
|
|
//
|
|
// Button climberSetMaxAmps = new InternalButton();
|
|
// climberSetMaxAmps.whenPressed(new ClimberSetMaxAmps(0.8, 20));
|
|
// SmartDashboard.putData("Climber Max Amps", climberSetMaxAmps);
|
|
//
|
|
//jaci.pathfinder.Waypoint[] points = new jaci.pathfinder.Waypoint[] {
|
|
// new jaci.pathfinder.Waypoint(0, 0, 0),
|
|
// new jaci.pathfinder.Waypoint(-90, -16, Pathfinder.d2r(-45))
|
|
//};
|
|
|
|
//PathGenerator path = new PathGenerator(points, 0.01, 160, 200.0, 700.0);
|
|
|
|
//Button pathTest = new InternalButton();
|
|
//pathTest.whenPressed(new DrivePathMP(path));
|
|
//SmartDashboard.putData("Path Test", pathTest);
|
|
|
|
// Button ledsOn = new InternalButton();
|
|
// ledsOn.whenPressed(new LEDLightsSet(true));
|
|
// SmartDashboard.putData("LEDs On", ledsOn);
|
|
//
|
|
// Button ledsOff = new InternalButton();
|
|
// ledsOff.whenPressed(new LEDLightsSet(false));
|
|
// SmartDashboard.putData("LEDs Off", ledsOff);
|
|
//
|
|
// Button intakeGearRoller = new InternalButton();
|
|
// intakeGearRoller.whenPressed(new GearIntakeRollerSetSpeed(0.3));
|
|
// SmartDashboard.putData("Gear Intake Clean Speed", intakeGearRoller);
|
|
//
|
|
// Button intakeGearStopRoller = new InternalButton();
|
|
// intakeGearStopRoller.whenPressed(new GearIntakeRollerSetSpeed(0.0));
|
|
// SmartDashboard.putData("Gear Intake Clean Off Speed", intakeGearStopRoller);
|
|
} catch (Exception e) {
|
|
System.err.println("An error occurred in the OI constructor");
|
|
}
|
|
}
|
|
|
|
public static OI getInstance() {
|
|
if(instance == null) {
|
|
instance = new OI();
|
|
}
|
|
return instance;
|
|
}
|
|
|
|
public IHandController getDriverController() {
|
|
return m_driverXbox;
|
|
}
|
|
|
|
public IHandController getOperatorController()
|
|
{
|
|
return m_operatorXbox;
|
|
}
|
|
|
|
public Joystick getOperatorJoystick()
|
|
{
|
|
return m_operatorXbox.getJoyStick();
|
|
}
|
|
}
|
|
|