Robot-Essentials/src/main/java/frc4388/robot/RobotContainer.java

/*----------------------------------------------------------------------------*/
/* Copyright (c) 2018-2019 FIRST. All Rights Reserved.                        */
/* Open Source Software - may be modified and shared by FRC teams. The code   */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project.                                                               */
/*----------------------------------------------------------------------------*/

package frc4388.robot;

import edu.wpi.first.wpilibj.Joystick;
import edu.wpi.first.wpilibj2.command.Command;
import edu.wpi.first.wpilibj2.command.InstantCommand;
import edu.wpi.first.wpilibj2.command.button.JoystickButton;
import frc4388.robot.Constants.*;
import frc4388.robot.commands.Drive.DriveWithJoystick;
import frc4388.robot.commands.Drive.GamerMove;
import frc4388.robot.commands.LED.UpdateLED;
import frc4388.robot.subsystems.Drive;
import frc4388.robot.subsystems.LED;
import frc4388.utility.controller.IHandController;
import frc4388.utility.controller.XboxController;

/**
 * This class is where the bulk of the robot should be declared. Since
 * Command-based is a "declarative" paradigm, very little robot logic should
 * actually be handled in the {@link Robot} periodic methods (other than the
 * scheduler calls). Instead, the structure of the robot (including subsystems,
 * commands, and button mappings) should be declared here.
 */
public class RobotContainer {
    /* Subsystems */
    private final Drive m_robotDrive = new Drive();
    private final LED m_robotLED = new LED();

    /* Controllers */
    private final XboxController m_driverXbox = new XboxController(OIConstants.XBOX_DRIVER_ID);
    private final XboxController m_operatorXbox = new XboxController(OIConstants.XBOX_OPERATOR_ID);

    /**
     * The container for the robot.  Contains subsystems, OI devices, and commands.
     */
    public RobotContainer() {
        configureButtonBindings();

        /* Default Commands */
        m_robotDrive.setDefaultCommand(new DriveWithJoystick(m_robotDrive, getDriverController()));
        m_robotLED.setDefaultCommand(new UpdateLED(m_robotLED));
    }

    /**
    * Use this method to define your button->command mappings.  Buttons can be created by
    * instantiating a {@link GenericHID} or one of its subclasses ({@link
    * edu.wpi.first.wpilibj.Joystick} or {@link XboxController}), and then passing it to a
    * {@link edu.wpi.first.wpilibj2.command.button.JoystickButton}.
    */
    private void configureButtonBindings() {
        new JoystickButton(getDriverJoystick(), XboxController.A_BUTTON)
            .whenPressed(new GamerMove(m_robotDrive))
            .whenReleased(new DriveWithJoystick(m_robotDrive, getDriverController()));
    }

    /**
     * Use this to pass the autonomous command to the main {@link Robot} class.
     *
     * @return the command to run in autonomous
     */
    public Command getAutonomousCommand() {
        // no auto
        return new InstantCommand();
    }

    
    public IHandController getDriverController() {
        return m_driverXbox;
    }
    
    public IHandController getOperatorController()
    {
        return m_operatorXbox;
    }
    
    public Joystick getOperatorJoystick()
    {
        return m_operatorXbox.getJoyStick();
    }
    
    public Joystick getDriverJoystick()
    {
        return m_driverXbox.getJoyStick();
    }
}