private void setUp_Controler_LaunchPad() {
launchPad = new Joystick(2);
toggleSwitch = new JoystickButton(launchPad, 7);
toggleSwitch.whileHeld(new Drive_Robot_Field_Oriented_Mecanum());
referenceLeftSeaLeg = new JoystickButton(launchPad, 8);
referenceLeftSeaLeg.whenReleased(new SeaLegs_Left_Reference_Cycle());
referenceRightSeaLeg = new JoystickButton(launchPad, 9);
referenceRightSeaLeg.whenReleased(new SeaLegs_Right_Reference_Cycle());
returnSeaLeg_to_TDC = new JoystickButton(launchPad, 10);
returnSeaLeg_to_TDC.whileHeld(new SeaLegs_Return_To_TDC());
// returnSeaLeg_to_Deploy = new JoystickButton(launchPad, 11);
// returnSeaLeg_to_Deploy.whileHeld(new SeaLegs_Deploy());
Secure_Ball = new JoystickButton(launchPad, 1);
Secure_Ball.whenPressed(new Auto_Cycle_Secure_Ball());
Soft_Release = new JoystickButton(launchPad, 2);
Soft_Release.whenPressed(new PinBall_Cycle_SOFT());
ScissorToClimb = new JoystickButton(launchPad, 3);
// ScissorToClimb.whileHeld(new Scissor_To_Position(RobotMap.SCISSOR_CLIMB_REACH_BAR));
ScissorToClimb.whenPressed(new Auto_Ready_Climb());
ScissorStartClimb = new JoystickButton(launchPad, 4);
/*
* whats best when Pressed or while held
*/
// ScissorStartClimb.whileHeld(new Scissor_To_Position(RobotMap.SCISSOR_CLIMB_LIFT_BOT));
ScissorStartClimb.whenPressed(new Scissor_To_Position(RobotMap.SCISSOR_CLIMB_LIFT_BOT));
ScissorToDefence = new JoystickButton(launchPad, 5);
ScissorToDefence.whenPressed(new Scissor_to_Defence_Command_Group());
// ScissorToDefence.whenPressed(new Scissor_To_Position(RobotMap.SCISSOR_DEFENCE_POS));
ScissorToStow = new JoystickButton(launchPad, 6);
ScissorToStow.whileHeld(new Scissor_To_Position(RobotMap.SCISSOR_STOW_POS));
// DemoToggle = new JoystickButton(launchPad,11);
// DemoToggle.whileHeld(new DemoToggle_Command());
}
private void setUp_Controler_Xbox_1() {
xbox_1 = new Joystick(0);
x_1 = new JoystickButton(xbox_1, 3);
x_1.whileHeld(new Claw_To_Position(20));
b_1 = new JoystickButton(xbox_1, 2);
b_1.whileHeld(new Claw_To_Position(13.5));
a_1 = new JoystickButton(xbox_1, 1);
// a_1.whenPressed(new Drive_Spin_In_Place_PID_TrackTarget());
a_1.whenPressed(new Drive_Spin_In_Place_PID_TrackTarget());
a_1.whenReleased(new Drive_Robot_Robot_Oriented_Mecanum());
// a_1.whileHeld(new Drive_Spin_In_Place_PID_TrackTarget());
rB_1 = new JoystickButton(xbox_1, 8);
rB_1.whenPressed(new Auto_Ready_Climb());
lB_1 = new JoystickButton(xbox_1, 5);
lB_1.whileHeld(new Scissor_To_Position(RobotMap.SCISSOR_STOW_POS));
y_1 = new JoystickButton(xbox_1, 4);
// y_1.whileHeld(new Auto_Track_Target_Center());
// y_1.whileHeld(new Auto_Track_Target_X_Center_PID());
// y_1.whileHeld(new Auto_Track_Target_Y_Center_PID());
y_1.whileHeld(new Auto_Track_Target_XY());
turboStick_1 = new JoystickButton(xbox_1, 9);
turboStick_1.whileHeld(new Drive_Turbo_NoTimeOut());
snailStick_1 = new JoystickButton(xbox_1, 10);
snailStick_1.whileHeld(new Drive_Snail_NoTimeOut());
reset_1 = new JoystickButton(xbox_1, 7);
reset_1.whileHeld(new SeaLegs_Return_To_TDC());
}
private void setUp_Controler_Xbox_2() {
xbox_2 = new Joystick(1);
x_2 = new JoystickButton(xbox_2, 3);
x_2.whileHeld(new Claw_To_Position(20));
b_2 = new JoystickButton(xbox_2, 2);
b_2.whileHeld(new Claw_To_Position(13.5));
rB_2 = new JoystickButton(xbox_2, 6);
rB_2.whileHeld(new Scissor_To_Position(RobotMap.SCISSOR_DEFENCE_POS + 2));
lB_2 = new JoystickButton(xbox_2, 5);
lB_2.whileHeld(new Scissor_To_Position(RobotMap.SCISSOR_STOW_POS));
reset_2 = new JoystickButton(xbox_2, 7);
reset_2.whenPressed(new PinBall_Reset());
start_2 = new JoystickButton(xbox_2, 8);
start_2.whileHeld(new PinBall_Cycle());
start_2.whenReleased(new PinBall_Reset());
a_2 = new JoystickButton(xbox_2, 1);
a_2.whileHeld(new Wrist_Jog_Down());
y_2 = new JoystickButton(xbox_2, 4);
y_2.whileHeld(new Wrist_Jog_Up());
}