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OI.java
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OI.java
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/*----------------------------------------------------------------------------*/
/* Copyright (c) 2017-2018 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 org.usfirst.frc.team199.Robot2018;
import org.usfirst.frc.team199.Robot2018.commands.ShiftDriveType;
import org.usfirst.frc.team199.Robot2018.commands.ShiftLowGear;
import edu.wpi.first.wpilibj.Joystick;
import edu.wpi.first.wpilibj.buttons.JoystickButton;
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
/**
* This class is the glue that binds the controls on the physical operator
* interface to the commands and command groups that allow control of the robot.
*/
public class OI {
//// CREATING BUTTONS
// One type of button is a joystick button which is any button on a
//// joystick.
// You create one by telling it which joystick it's on and which button
// number it is.
// Joystick stick = new Joystick(port);
// Button button = new JoystickButton(stick, buttonNumber);
// There are a few additional built in buttons you can use. Additionally,
// by subclassing Button you can create custom triggers and bind those to
// commands the same as any other Button.
//// TRIGGERING COMMANDS WITH BUTTONS
// Once you have a button, it's trivial to bind it to a button in one of
// three ways:
// Start the command when the button is pressed and let it run the command
// until it is finished as determined by it's isFinished method.
// button.whenPressed(new ExampleCommand());
// Run the command while the button is being held down and interrupt it once
// the button is released.
// button.whileHeld(new ExampleCommand());
// Start the command when the button is released and let it run the command
// until it is finished as determined by it's isFinished method.
// button.whenReleased(new ExampleCommand());
public Joystick leftJoy;
public JoystickButton shiftDrive;
public JoystickButton shiftDriveType;
public Joystick rightJoy;
public Joystick manipulator;
public int getButton(String key, int def) {
if (!SmartDashboard.containsKey(key)) {
SmartDashboard.putNumber(key, def);
}
return (int) SmartDashboard.getNumber(key, def);
}
public OI() {
leftJoy = new Joystick(0);
shiftDrive = new JoystickButton(leftJoy, getButton("Button Shift Drive", 1));
shiftDrive.whenPressed(new ShiftLowGear());
shiftDriveType = new JoystickButton(leftJoy, getButton("Button Shift Drive Type", 2));
shiftDriveType.whenPressed(new ShiftDriveType());
rightJoy = new Joystick(1);
manipulator = new Joystick(2);
}
}