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dent/OI.cpp

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#include "OI.h"
#include "Commands/Elevator/Lower.h"
#include "Commands/Elevator/Raise.h"
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#include "Commands/Elevator/OpenArm.h"
#include "Commands/Elevator/CloseArm.h"
#include "Commands/Elevator/ElevatorCycle.h"
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#include "Commands/Collector/RollIn.h"
#include "Commands/Collector/RollOut.h"
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#include "Commands/Collector/RollVar.h"
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#include "Commands/BinElevator/BinLower.h"
#include "Commands/BinElevator/BinRaise.h"
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#include "Commands/BinElevator/BinCloseArms.h"
#include "Commands/BinElevator/BinOpenArms.h"
#include "Commands/BinCollector/BinIn.h"
#include "Commands/BinCollector/BinOut.h"
#include "Commands/Autonomous/CollectTote.h"
#include "Commands/Autonomous/ReleaseTote.h"
#include "Commands/Pneumatics/EnableCompressor.h"
#include "Commands/Pneumatics/DisableCompressor.h"
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OI::OI() {
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// Joysticks
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leftStick = new Joystick(0);
rightStick = new Joystick(1);
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// Collector
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JoystickButton *left1 = new JoystickButton(leftStick, 1);
JoystickButton *left2 = new JoystickButton(leftStick, 2);
JoystickButton *left7 = new JoystickButton(leftStick, 7);
JoystickButton *left8 = new JoystickButton(leftStick, 8);
JoystickButton *left9 = new JoystickButton(rightStick, 9);
JoystickButton *left10 = new JoystickButton(rightStick, 10);
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left1->WhileHeld(new RollIn(GetLeftThrottle()));
left2->WhileHeld(new RollOut(2.0));
//Disable/enable the compressor
left7->WhenPressed(new DisableCompressor(2));
left8->WhenPressed(new EnableCompressor(2));
//Open front collector wheels
left9->WhenPressed(new BinOpenArms(2));
left10->WhenPressed(new BinCloseArms(2));
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// Elevator
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JoystickButton *right4 = new JoystickButton(rightStick, 4);
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JoystickButton *right5 = new JoystickButton(rightStick, 5);
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JoystickButton *right6 = new JoystickButton(rightStick, 6);
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JoystickButton *right11 = new JoystickButton(rightStick, 11);
JoystickButton *right12 = new JoystickButton(rightStick, 12);
right11->WhenPressed(new OpenArm(2));
right12->WhenPressed(new CloseArm(2));
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//Full speed lift
right4->WhileHeld(new Lower(3.5,false,1));
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right5->WhileHeld(new Raise(3.5,false,0.5));
right6->WhileHeld(new Raise(3.5,false,-0.5));
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}
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Joystick* OI::GetRightStick() {
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return rightStick;
}
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Joystick* OI::GetLeftStick() {
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return leftStick;
}
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double OI::GetRightThrottle() {
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return (-rightStick->GetRawAxis(3)+1.0)/2;
}
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double OI::GetLeftThrottle() {
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return (-leftStick->GetRawAxis(3)+1.0)/2;
}
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// vim: ts=2:sw=2:et