public OI() {
runShooterButton = new JoystickButton(primaryJoystick, JoyConfig.joy0.buttonShooterForward);
buttonThatTotallyDoesStuff =
new JoystickButton(secondaryJoystick, JoyConfig.joy1.buttonThatTotallyDoesStuff);
runShooterButton.whenPressed(new RunShooter());
// myTestTrigger.whileActive(new SetDrivePower());
}
private void mapButtons() {
// Drive Commands (Analog Sticks are reserved for the drivetrain)
b_sStar.whenPressed(new CycleDriveCommand());
// Shoot Commands
b_btnX.whenPressed(new CycleShootCommand());
b_trigR.whenPressed(new ShootMain());
b_dpadR.whenPressed(new PWMSetpointIncrement(0.05));
b_dpadL.whenPressed(new PWMSetpointIncrement(-0.05));
// Compressor Commands
b_btnB.whenPressed(new CompressorToggle());
// Collector Commands
b_dpadU.whenPressed(new ArmUp());
b_dpadD.whenPressed(new ArmDown());
b_btnY.whenPressed(new ArmToggle());
}
public OI() {
// Joysticks
driver = new Joystick(RobotMap.DRIVER);
codriver = new Joystick(RobotMap.CODRIVER);
// Buttons
sweepIn = new JoystickButton(driver, RobotMap.SWEEP_IN);
prime = new JoystickButton(driver, RobotMap.PRIME);
fire = new JoystickButton(driver, RobotMap.FIRE);
up = new JoystickButton(driver, RobotMap.UP);
down = new JoystickButton(driver, RobotMap.DOWN);
blind = new JoystickButton(driver, RobotMap.BLIND);
// Buttons and Commands
sweepIn.toggleWhenPressed(new Spin(false)); // While held the launch wheels will spin inwards
prime.toggleWhenPressed(new Spin(true)); // While held the launch wheels will spin outwards
fire.whenPressed(new Fire()); // If pressed while prime is also pressed, will fire the ball
up.whenPressed(new Lift(true));
up.whenReleased(new HoldArm());
down.whenPressed(new Lift(false));
down.whenReleased(new HoldArm());
blind.toggleWhenPressed(new BlindThemAll());
}
private void initDriver() {
buttonA = new JoystickButton(driver, 1);
buttonStart = new JoystickButton(driver, 8);
buttonLB = new JoystickButton(driver, 5);
buttonY = new JoystickButton(driver, 4);
buttonRB = new JoystickButton(driver, 6);
buttonB = new JoystickButton(driver, 2);
buttonX = new JoystickButton(driver, 3);
buttonRST = new JoystickButton(driver, 9);
buttonLST = new JoystickButton(driver, 10);
buttonBack = new JoystickButton(driver, 7);
buttonA.whenPressed(new ElevatorArmsSolenoidCommand());
buttonStart.whenPressed(new ElevatorBrakeSolenoidCommand());
buttonLB.whenPressed(new TopArmsSolenoidCommand());
buttonY.whenPressed(new CollectorArmsSolenoidCommand());
buttonRB.whenPressed(new CollectorMotorsCommand(0.5));
buttonRB.whenReleased(new CollectorMotorsCommand(0));
// hello
}
public OI() {
// drive left axis = left drivetrain in DriveWithJoystick
// drive right axis = right drivetrain in DriveWithJoystick
driveButtonRightBumper.whenPressed(new ShiftGearsLowToHigh());
driveButtonLeftBumper.whenPressed(new ShiftGearsHighToLow());
driveButtonStart.whenPressed(new LowerBridge());
driveButtonStart.whenReleased(new RaiseBridge());
driveButtonReset.whenPressed(new PegLegDown());
driveButtonReset.whenReleased(new PegLegUp());
// aux left axis = left DriveElevatorJoystick
// aux right axis = right ShooterWheelJoystick
auxButtonA.whenPressed(new key2_3());
auxButtonB.whenPressed(new side2_3());
auxButtonY.whenPressed(new fender2_3());
auxButtonX.whenPressed(new PID_ShooterPause());
auxButtonStart.whenPressed(new shootSingleBall());
auxButtonRightBumper.whenPressed(new BackFlapClose());
auxButtonLeftBumper.whenPressed(new BackFlapOpen());
/*
* Note, All buttons on button box are pulled up. They see +V when they are not pressed.
* In the case of the switches. Down corresponds to the off state (switch open), +V seen at input module.
*
* I'm pretty sure the DigitalIOButton class expects the buttons to be pulled up. So a button "pressed" condition is
* true when the IO module sees a short to ground. So "pressed" in the software should correlate to "pressing down on
* the button. (for switches, pressing is equivalent to moving it to the "up" position.
*
*/
// ioDigital1.whenPressed(); //Manual/Automatic mode select auto up manual down
// //WIRED - JMC
ioDigital2.whileHeld(
new DriveElevatorConst(RobotMap.liftVoltage)); // raise lift //WIRED - JMC
ioDigital3.whileHeld(
new DriveElevatorConst(-RobotMap.liftVoltage)); // lower lift //WIRED - JMC
ioDigital4.whenPressed(new BackFlapOpen()); // Hopper Down //WIRED - JMC
ioDigital5.whenPressed(new BackFlapClose()); // Hopper Up //WIRED - JMC
ioDigital6.whenPressed(
new fender2_3()); // front goal shot. high/low determined by switch10 //WIRED - JMC
ioDigital7.whenPressed(new side2_3()); // side goal shot //WIRED - JMC
ioDigital8.whenPressed(new key2_3()); // key shot //WIRED - JMC
// ioDigital9.whenPressed(new camera2_3()); //camera shot //WIRED - JMC
// ioDigital10.whenPressed(); //Shooting mode switch (2pt/3pt) //WIRED - JMC
ioDigital11.whenPressed(
new PID_ShooterPause()); // set shooter to zero/turn off shooter //WIRED - JMC
ioDigital12.whenPressed(new shootSingleBall()); // fire //WIRED - JMC
ioDigital13.whenPressed(new RaiseHood()); // Switch13 position to raise hood
ioDigital13.whenReleased(new LowerHood()); // Switch13 position to lower hood
// ioDigital14.whenPressed(); //Autonomous Mode - counter "1" //WIRED - JMC
// ioDigital15.whenPressed(); //Autonomous Mode - counter "2" //WIRED - JMC
// ioDigital16.whenPressed(); //Autonomous Mode - counter "4" //WIRED - JMC
// Autonomous Mode - counter "8" is not wired //WIRED - JMC
// wheelPots.whileHeld(new ShooterWheelWithPot());
// ioModule Analog1 - Voltage reference, VCC
// ioModule Analog2 - Manual Shooter Speed, fine control (top slide pot)
// ioModule Analog3 - Manual Shooter Speed, coarse control (bottom slide pot)
// ioModule Analog4
// ioModule Analog5
// ioModule Analog6
// ioModule Analog7 - Right Delay Potentiometer
// ioModule Analog8 - Left Delay Potentiometer
}
// Called repeatedly when this Command is scheduled to run
protected void execute() {
if (!button.get()) command.start();
}
public IO() {
// BALLISTA CONTROLS
/*
* Position
*/
buttonP2.whenPressed(new EnablePickupPosition(1.0));
buttonP3.whenPressed(new EnableShootingPosition(1.0));
buttonP9.whenPressed(new EnableTrussPosition(1.0));
buttonP8.whenPressed(new DisableInitPosition(1.0));
/*
* Shooting
*/
buttonP11.whenPressed(new PrepareShot());
buttonP10.whenPressed(new EnableInitPosition(1.0));
buttonP1.whenPressed(new BallistaFireBall());
/*
* Pickup
*/
buttonP6.whileHeld(new GrabBall());
buttonP7.whenPressed(new HoldBall(1.0));
// DEBUG ON LEFT JOYSTICK
buttonL7.whenPressed(new PinHold(1.0));
buttonL6.whenPressed(new PinRelease(1.0));
buttonL10.whenPressed(new PrepareShotNoPinRelease());
buttonL11.whenPressed(new Release(2.0));
}
public boolean getButtonL3() {
return buttonL3.get();
}
public boolean getButtonL2() {
return buttonL2.get();
}
public boolean getShootButton() {
return shootButton.get();
}
public boolean getMecanumButton() {
return mecanumButton.get();
}
public boolean getTracktionButton() {
return tractionButton.get();
}
public OI() {
ds = DriverStation.getInstance().getEnhancedIO();
shooterFeedbackEnableButton.whileHeld(new ShootingWithFeedback());
}