public OI() {
// Controllers
ps4Controller = new Joystick(PS4_PORT);
operatorControl = new Joystick(OPERATOR_PORT);
manualOperatorControl = new Joystick(MANUAL_OPERATOR_PORT);
// Manual Buttons
JoystickButton openDocOcButton = new JoystickButton(manualOperatorControl, DOC_OC_OPEN);
JoystickButton closeDocOcButton = new JoystickButton(manualOperatorControl, DOC_OC_CLOSE);
JoystickButton openBearHugger = new JoystickButton(manualOperatorControl, CLOSE_BEAR_HUGGER);
JoystickButton closeBearHugger = new JoystickButton(manualOperatorControl, OPEN_BEAR_HUGGER);
JoystickButton bearHuggerUp = new JoystickButton(manualOperatorControl, BEAR_HUGGER_UP);
JoystickButton bearHuggerDown = new JoystickButton(manualOperatorControl, BEAR_HUGGER_DOWN);
JoystickButton homeBearHugger = new JoystickButton(manualOperatorControl, 1);
// Manual Actions
openDocOcButton.whenPressed(new ActuateDocOcGripper(ClawPosition.OPEN));
closeDocOcButton.whenPressed(new ActuateDocOcGripper(ClawPosition.CLOSE));
openBearHugger.whenPressed(new BearHuggerGripperCommand(ClawPosition.OPEN));
closeBearHugger.whenPressed(new BearHuggerGripperCommand(ClawPosition.CLOSE));
homeBearHugger.whenPressed(new HomeBearHugger());
bearHuggerUp.whileHeld(new SimpleBearHuggerElevatorCommand(0.8));
// bearHuggerUp.whenReleased(new SimpleBearHuggerElevatorCommand(0));
bearHuggerDown.whileHeld(new SimpleBearHuggerElevatorCommand(-0.75));
// bearHuggerDown.whenReleased(new SimpleBearHuggerElevatorCommand(0));
// Operator Buttons
JoystickButton groundButton = new JoystickButton(operatorControl, GROUND_BUTTON);
JoystickButton carryPlaceButton = new JoystickButton(operatorControl, CARRY_PLACE_BUTTON);
JoystickButton stepButton = new JoystickButton(operatorControl, STEP_BUTTON);
JoystickButton oneToteButton = new JoystickButton(operatorControl, ONE_TOTE_BUTTON);
JoystickButton twoToteButton = new JoystickButton(operatorControl, TWO_TOTE_BUTTON);
JoystickButton humanPlayerButton = new JoystickButton(operatorControl, HUMAN_PLAYER_BUTTON);
JoystickButton landfillButton = new JoystickButton(operatorControl, LANDFILL_BUTTON);
// New Stuff
JoystickButton tiltButton = new JoystickButton(operatorControl, TILT_BUTTON);
JoystickButton pickUpButton = new JoystickButton(operatorControl, PICK_UP_BUTTON);
JoystickButton bearHuggerButton = new JoystickButton(operatorControl, BEAR_OPEN_CLOSE);
JoystickButton docOcButton = new JoystickButton(operatorControl, DOC_OC_SEQUENCE_BUTTON);
// OP Button Actions
tiltButton.whileHeld(new CanTiltCommand(TiltPosition.TILT));
tiltButton.whenReleased(new CanTiltCommand(TiltPosition.UNTILT));
bearHuggerButton.whileHeld(new BearHuggerGripperCommand(ClawPosition.OPEN));
bearHuggerButton.whenReleased(new BearHuggerGripperCommand(ClawPosition.CLOSE));
// pickUpButton.whileHeld(new RollerGripperCommand(RollerGripperDirection.IN,
// ClawPosition.CLOSE));
// pickUpButton.whenReleased(new RollerGripperCommand(RollerGripperDirection.OFF,
// ClawPosition.OPEN));
pickUpButton.whenPressed(new FromFloorToBearHuggerAndClear());
docOcButton.whenPressed(new StowToBearHuggerAndClear());
// End New Stuff
groundButton.whenPressed(new DefaultGround());
carryPlaceButton.whenPressed(new ElevateToteCommand(ElevatorPosition.CARRY));
// carryPlaceButton.whenReleased(new DefaultGround());
stepButton.whenPressed(new ElevateToteCommand(ElevatorPosition.STEP_CARRY));
// stepButton.whenReleased(new ElevateToteCommand(ElevatorPosition.STEP_PLACE));
oneToteButton.whenPressed(new ElevateToteCommand(ElevatorPosition.ONE_TOTE_CARRY));
// oneToteButton.whenPressed(new ElevateToteCommand(ElevatorPosition.ONE_TOTE_PLACE));
twoToteButton.whenPressed(new ElevateToteCommand(ElevatorPosition.TWO_TOTE_CARRY));
// twoToteButton.whenReleased(new ElevateToteCommand(ElevatorPosition.TWO_TOTE_PLACE));
humanPlayerButton.whenPressed(new UpAndOpen());
humanPlayerButton.whenReleased(new AutomatedHPThing());
landfillButton.whenPressed(new LandfillGrabbing());
// Joystick Buttons
// JoystickButton shiftDownButton = new JoystickButton(ps4Controller, SHIFT_DOWN_BUTTON);
JoystickButton shiftUpButton = new JoystickButton(ps4Controller, SHIFT_UP_BUTTON);
JoystickButton scoreButton = new JoystickButton(ps4Controller, SCORE_BUTTON);
JoystickButton carryButton = new JoystickButton(ps4Controller, CARRY_BUTTON);
JoystickButton intakeButton = new JoystickButton(ps4Controller, INTAKE_BUTTON);
JoystickButton ejectButton = new JoystickButton(ps4Controller, EJECT_BUTTON);
JoystickButton groundWithoutOpenButton = new JoystickButton(ps4Controller, GROUND_WITHOUT_OPEN);
JoystickButton resetBearHugger = new JoystickButton(ps4Controller, BEAR_RESET_BUTTON);
JoystickButton justIntake = new JoystickButton(ps4Controller, JUST_INTAKE_BUTTON);
// JS Button Actions
shiftUpButton.whileHeld(new ShiftCommand(HIGH));
shiftUpButton.whenReleased(new ShiftCommand(LOW));
// shiftDownButton.whenPressed(new ShiftCommand(LOW));
scoreButton.whenPressed(new PlaceToteStackCommandGroup());
carryButton.whenPressed(new ElevateToteCommand(ElevatorPosition.CARRY));
ejectButton.whileHeld(new RollerGripperCommand(RollerGripperDirection.OUT, ClawPosition.CLOSE));
intakeButton.whileHeld(new LandfillGrabbing());
ejectButton.whenReleased(
new RollerGripperCommand(RollerGripperDirection.OFF, ClawPosition.OPEN));
intakeButton.whenReleased(
new RollerGripperCommand(RollerGripperDirection.OFF, ClawPosition.OPEN));
groundWithoutOpenButton.whenPressed(new FinishStack());
resetBearHugger.whenPressed(new HomeBearHugger());
justIntake.whileHeld(new RollerGripperCommand(RollerGripperDirection.IN, ClawPosition.CLOSE));
justIntake.whenReleased(
new RollerGripperCommand(RollerGripperDirection.OFF, ClawPosition.OPEN));
// throttleScalingButton.whenActive(new JoystickDrive());
// Autonomous
JoystickButton autoSelector1 = new JoystickButton(operatorControl, 1);
JoystickButton autoSelector2 = new JoystickButton(operatorControl, 2);
JoystickButton autoSelector3 = new JoystickButton(operatorControl, 3);
autoSelector = new AutonomousSelector(autoSelector1, autoSelector2, autoSelector3);
List<Command> autoCommands = new ArrayList<>();
autoCommands.add(new TotesAndCansCommand());
autoCommands.add(new DriveAtSpeed());
autoSelector.setCommands(autoCommands);
// Elevator commands
// SmartDashboard.putData("DriveToToteAtSpeed", new DriveAtSpeedToTote(48, 0.4, 60));
// SmartDashboard.putData(new TotesAndCansCommand());
// SmartDashboard.putData("Doc Oc Arm Up", new SimpleDocOcArmElevationCommand(0.3));
// SmartDashboard.putData("Doc Oc Arm Down", new SimpleDocOcArmElevationCommand(-0.1));
// SmartDashboard.putData("Doc Oc Arm Left", new SimpleDocOcArmYawCommand(0.1));
// SmartDashboard.putData("Doc Oc Arm Right", new SimpleDocOcArmYawCommand(-0.1));
SmartDashboard.putData(
"Bear Hugger Elevator Up",
new SimpleBearHuggerElevatorCommand(BearHuggerElevator.BEAR_HUGGER_ELEVATOR_POWER));
SmartDashboard.putData("Bear Hugger Elevator Down", new SimpleBearHuggerElevatorCommand(-0.75));
SmartDashboard.putData("Doc Oc Arm Open", new ActuateDocOcGripper(ClawPosition.OPEN));
SmartDashboard.putData("Doc Oc Arm Close", new ActuateDocOcGripper(ClawPosition.CLOSE));
// SmartDashboard.putData("Elevate to can", new
// ElevateBearHuggerCommand(BearHuggerElevator.CAN_HAND_OFF, 0.75));
SmartDashboard.putData("home tote", new HomeToteElevator());
SmartDashboard.putData("Open Bear Hugger", new BearHuggerGripperCommand(ClawPosition.OPEN));
SmartDashboard.putData("Close Bear Hugger", new BearHuggerGripperCommand(ClawPosition.CLOSE));
// SmartDashboard.putData("Arm To Floor", new
// ElevateDocOcArmToCommand(DocOcArmPosition.LEFT_FLOOR, 0.5));
// SmartDashboard.putData("Arm To Step", new ElevateDocOcArmToCommand(Robot.leftDocOcArm,
// DocOcArmPosition.LEFT_STEP, 12));
// SmartDashboard.putData("Arm To Stow", new
// ElevateDocOcArmToCommand(DocOcArmPosition.LEFT_STOWED, 0.5));
// SmartDashboard.putData("Rotate Arm To Stow", new DocOcArmYawCommand(0.1,
// DocOcArmPosition.LEFT_SECOND_CAN));
// SmartDashboard.putData("Rotate Arm To Floor", new DocOcArmYawCommand(0.1,
// DocOcArmPosition.LEFT_FLOOR));
SmartDashboard.putData(new FromFloorToBearHugger());
SmartDashboard.putData("Tilt Can", new CanTiltCommand(TiltPosition.TILT));
SmartDashboard.putData("Un-Tilt Can", new CanTiltCommand(TiltPosition.UNTILT));
SmartDashboard.putData(new ElevateDocOcToYaw(1));
SmartDashboard.putData(new TurnToAngle(90, 0.75));
SmartDashboard.putData("Stow To Bear", new StowToBearHugger());
SmartDashboard.putData("Drive Fo Eva", new DriveStraightAtSpeed(36, 81));
}
public Command getAutoCommand() {
return autoSelector.getSelectedCommand();
}
