mirror of
https://github.com/team2059/Dent
synced 2024-12-18 20:52:29 -05:00
89 lines
2.7 KiB
C++
89 lines
2.7 KiB
C++
#include "OI.h"
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#include "Commands/Elevator/Lower.h"
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#include "Commands/Elevator/Raise.h"
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#include "Commands/Collector/RollIn.h"
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#include "Commands/Collector/RollOut.h"
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#include "Commands/BinElevator/BinLower.h"
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#include "Commands/BinElevator/BinRaise.h"
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#include "Commands/BinElevator/BinCloseArms.h"
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#include "Commands/BinElevator/BinOpenArms.h"
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#include "Commands/Autonomous/CollectTote.h"
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#include "Commands/Autonomous/ReleaseTote.h"
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#include "Commands/Test/CheckRobot.h"
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OI::OI(){
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// Joysticks
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leftController=new Joystick(0);
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rightStick=new Joystick(1);
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// Main buttons
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leftA = new JoystickButton(leftController, 1);
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leftB = new JoystickButton(leftController, 2);
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leftX = new JoystickButton(leftController, 3);
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leftY = new JoystickButton(leftController, 4);
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// Left and right uttons
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leftLB = new JoystickButton(leftController, 5);
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leftRB = new JoystickButton(leftController, 6);
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leftBack = new JoystickButton(leftController, 7);
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leftStart = new JoystickButton(leftController, 8);
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// Left, right stick press
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leftLPress = new JoystickButton(leftController, 9);
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leftRPress = new JoystickButton(leftController, 10);
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// Commands
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Raise *raise = new Raise(2.0);
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Lower *lower = new Lower(2.0);
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leftA->WhileHeld(raise);
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leftA->CancelWhenPressed(lower);
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leftB->WhenPressed(lower);
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leftB->CancelWhenPressed(raise);
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}
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float OI::GetLeftAxis(std::string stick, std::string axis){
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if(stick=="left"){
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if(axis=="x"){
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return leftController->GetRawAxis(0);
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}else if(axis=="y"){
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return -leftController->GetRawAxis(1);
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}else if(axis=="trigger"){
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//TODO: Figure out what axis this is
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return leftController->GetRawAxis(4);
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return -4;
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}
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}else if(stick=="right"){
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if(axis=="x"){
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return leftController->GetRawAxis(2);
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}else if(axis=="y"){
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return -leftController->GetRawAxis(3);
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}else if(axis=="trigger"){
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//TODO: Figure out what axis this is
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return leftController->GetRawAxis(5);
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return -4;
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}
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}
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//TODO: Fix this placeholder for NULL
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return -5;
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}
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bool OI::GetLeftButton(std::string button){
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if(button=="a"){
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return leftA->Get();
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}else if(button=="b"){
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return leftB->Get();
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}else if(button=="x"){
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return leftX->Get();
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}else if(button=="y"){
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return leftY->Get();
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}else if(button=="lb"){
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return leftLB->Get();
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}else if(button=="rb"){
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return leftRB->Get();
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}else if(button=="back"){
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return leftBack->Get();
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}else if(button=="start"){
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return leftStart->Get();
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}else if(button=="lpress"){
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return leftLPress->Get();
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}else if(button=="rpress"){
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return leftRPress->Get();
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}
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return false;
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}
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// vim: ts=2:sw=2:et
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