Team4388/2019-Hit-or-Miss
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lukesta182
2019-03-18 17:26:42 -06:00
parent 1b80e34cdc
commit cf170c22c7
1 changed files with 44 additions and 46 deletions
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2019robot/src/main/java/org/usfirst/frc4388/robot/OI.java
+44 -46
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@@ -15,7 +15,7 @@ import edu.wpi.first.wpilibj.Joystick;
import edu.wpi.first.wpilibj.buttons.*;
import org.usfirst.frc4388.robot.subsystems.*;
import org.usfirst.frc4388.robot.subsystems.Arm.ArmControlMode;
import org.usfirst.frc4388.robot.subsystems.Arm.PlaceMode;
import org.usfirst.frc4388.robot.subsystems.Wrist.WristControlMode;
import org.usfirst.frc4388.utility.MPSoftwarePIDController.MPSoftwareTurnType;
import org.usfirst.frc4388.utility.MPSoftwarePIDController.MPSoftwareTurnType;
@@ -38,10 +38,17 @@ public class OI
{
try
{
// Driver controller
// Driver controllers
m_driverXbox = new XboxController(RobotMap.DRIVER_JOYSTICK_1_USB_ID);
m_operatorXbox = new XboxController(RobotMap.OPERATOR_JOYSTICK_1_USB_ID);
/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
// opporator controller
XBoxTriggerButton CarriageIntake = new XBoxTriggerButton(m_operatorXbox, XBoxTriggerButton.LEFT_TRIGGER);
CarriageIntake.whenPressed(new SetIntakeSpeed(BallIntake.BALL_INTAKE_SPEED));
CarriageIntake.whenReleased(new SetIntakeSpeed(0.0));
@@ -63,11 +70,8 @@ public class OI
JoystickButton liftHatchIntake = new JoystickButton(m_operatorXbox.getJoyStick(), XboxController.RIGHT_BUMPER_BUTTON);
liftHatchIntake.whenPressed(new LiftHatchDropBall());
//liftHatchIntake.toggleWhenActive(new DeployBallIntake());
JoystickButton liftBallIntake = new JoystickButton(m_operatorXbox.getJoyStick(), XboxController.LEFT_BUMPER_BUTTON);
//liftBallIntake.toggleWhenActive(new HatchFlip(false));
//liftBallIntake.t
liftBallIntake.whenPressed(new LiftBallDropHatch());
JoystickButton safteySwitch = new JoystickButton(m_operatorXbox.getJoyStick(), XboxController.START_BUTTON);
@@ -76,57 +80,51 @@ public class OI
safteySwitch.whenReleased(new setClimberSafety(false));
safteySwitch.whenReleased(new setLEDPattern(LEDPatterns.FOREST_WAVES));
JoystickButton climbUp = new JoystickButton(m_driverXbox.getJoyStick(), XboxController.RIGHT_TRIGGER_AXIS);
JoystickButton climbDown = new JoystickButton(m_driverXbox.getJoyStick(), XboxController.LEFT_TRIGGER_AXIS);
JoystickButton resetArmEncoder = new JoystickButton(m_driverXbox.getJoyStick(), XboxController.START_BUTTON);
resetArmEncoder.whenPressed(new ResetArmEncoder());
resetArmEncoder.whenPressed(new ResetWristEncoder());
/** DEPRICATED, TRIGGERS ON THE DRIVER JOYSTICK COVER FOR THIS BUTTON */
//JoystickButton ratchetFlip = new JoystickButton(m_driverXbox.getJoyStick(), XboxController.Y_BUTTON);
//ratchetFlip.toggleWhenPressed(new ratchetFlip(0.5));
//ratchetFlip.whenReleased(new ratchetFlip(0));
JoystickButton shiftUp = new JoystickButton(m_driverXbox.getJoyStick(), XboxController.RIGHT_BUMPER_BUTTON);
shiftUp.whenPressed(new DriveSpeedShift(true));
//shiftUp.whenPressed(new LEDIndicators(true));
JoystickButton shiftDown = new JoystickButton(m_driverXbox.getJoyStick(), XboxController.LEFT_BUMPER_BUTTON);
shiftDown.whenPressed(new DriveSpeedShift(false));
// shiftDown.whenPressed(new LEDIndicators(false));
//Operator Xbox
JoystickButton help = new JoystickButton(m_driverXbox.getJoyStick(), XboxController.X_BUTTON);
help.whenPressed(new ArmSetMode(ArmControlMode.JOYSTICK_MANUAL));
help.whenReleased(new ArmSetMode(ArmControlMode.MOTION_MAGIC));
/*
JoystickButton openIntake = new JoystickButton(m_operatorXbox.getJoyStick(), XboxController.LEFT_BUMPER_BUTTON);
openIntake.whenPressed(new IntakePosition(true));
s
JoystickButton CloseIntake = new JoystickButton(m_operatorXbox.getJoyStick(), XboxController.RIGHT_BUMPER_BUTTON);
CloseIntake.whenPressed(new IntakePosition(false));
*/
JoystickButton Height1 = new JoystickButton(m_operatorXbox.getJoyStick(),XboxController.RIGHT_JOYSTICK_BUTTON);
Height1.whenPressed(new ArmToHeight1());
JoystickButton lowHeight = new JoystickButton(m_operatorXbox.getJoyStick(),XboxController.LEFT_JOYSTICK_BUTTON);
lowHeight.whenPressed(new SetPositionArmWrist(550, 450));
lowHeight.whenPressed(new GrabFromLoadingSatation());
JoystickButton stow = new JoystickButton(m_operatorXbox.getJoyStick(), XboxController.B_BUTTON);
stow.whenPressed(new StowArm());
stow.whenPressed(new setLEDPattern(LEDPatterns.SOLID_GREEN));
///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
// Driver Xbox Controler
JoystickButton climbUp = new JoystickButton(m_driverXbox.getJoyStick(), XboxController.RIGHT_TRIGGER_AXIS);
JoystickButton climbDown = new JoystickButton(m_driverXbox.getJoyStick(), XboxController.LEFT_TRIGGER_AXIS);
JoystickButton shiftUp = new JoystickButton(m_driverXbox.getJoyStick(), XboxController.RIGHT_BUMPER_BUTTON);
shiftUp.whenPressed(new DriveSpeedShift(true));
JoystickButton shiftDown = new JoystickButton(m_driverXbox.getJoyStick(), XboxController.LEFT_BUMPER_BUTTON);
shiftDown.whenPressed(new DriveSpeedShift(false));
JoystickButton help = new JoystickButton(m_driverXbox.getJoyStick(), XboxController.X_BUTTON);
help.whenPressed(new ArmSetMode(ArmControlMode.JOYSTICK_MANUAL));
help.whenReleased(new ArmSetMode(ArmControlMode.MOTION_MAGIC));
help.whenPressed(new WristSetMode(WristControlMode.JOYSTICK_MANUAL));
help.whenReleased(new WristSetMode(WristControlMode.JOYSTICK_PID));
JoystickButton panic = new JoystickButton(m_driverXbox.getJoyStick(), XboxController.START_BUTTON);
panic.whenPressed(new ResetArmEncoder());
panic.whenPressed(new ResetWristEncoder());
//////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
// OI buttons
JoystickButton cargoPlaceMode = new JoystickButton(m_operatorXbox.getJoyStick(), XboxController.B_BUTTON);
cargoPlaceMode.whenPressed(new SwitchArmPlaceMode(PlaceMode.CARGO));
cargoPlaceMode.whenReleased(new SwitchArmPlaceMode(PlaceMode.HATCH));
//stow.whenPressed(new StowArm());
//stow.whenPressed(new setLEDPattern(LEDPatterns.SOLID_GREEN));
SmartDashboard.putData("switch to manuel", new SetManual());
// SmartDashboard.putData("run turn test", new TestTurn());
SmartDashboard.putData("grab from station", new GrabFromLoadingSatation());
SmartDashboard.putData("wrist test", new wristTest());
//SmartDashboard.putData("PRE GAME!!!!", new PreGame());
} catch (Exception e) {
System.err.println("An error occurred in the OI constructor");
}