mirror of
https://github.com/team2059/Dent
synced 2024-12-18 20:52:29 -05:00
88 lines
3.1 KiB
C++
88 lines
3.1 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/Elevator/OpenArm.h"
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#include "Commands/Elevator/CloseArm.h"
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#include "Commands/Elevator/ElevatorCycle.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/Collector/RollVar.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/BinCollector/BinIn.h"
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#include "Commands/BinCollector/BinOut.h"
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#include "Commands/Autonomous/CollectTote.h"
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#include "Commands/Autonomous/ReleaseTote.h"
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OI::OI() {
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// Joysticks
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leftStick = new Joystick(0);
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rightStick = new Joystick(1);
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// Collector
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JoystickButton *left1 = new JoystickButton(leftStick, 1);
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JoystickButton *left2 = new JoystickButton(leftStick, 2);
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JoystickButton *left7 = new JoystickButton(leftStick, 7);
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left1->WhileHeld(new RollIn(GetLeftThrottle()));
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left2->WhileHeld(new RollOut(2.0));
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// 0.8 is the multiplier, so they roll at 80% power
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left7->WhileHeld(new RollVar(0.8));
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// Elevator
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raise = new Raise(3.5);
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lower = new Lower(3.0);
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cycle = new ElevatorCycle();
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JoystickButton *left11 = new JoystickButton(leftStick, 11);
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JoystickButton *left12 = new JoystickButton(leftStick, 12);
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JoystickButton *right4 = new JoystickButton(rightStick, 4);
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JoystickButton *right6 = new JoystickButton(rightStick, 6);
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JoystickButton *right7 = new JoystickButton(rightStick, 7);
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JoystickButton *right10 = new JoystickButton(rightStick, 10);
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JoystickButton *right9 = new JoystickButton(rightStick, 9);
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JoystickButton *right12 = new JoystickButton(rightStick, 12);
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left11->WhenPressed(new OpenArm(2));
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left12->WhenPressed(new CloseArm(2));
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right4->WhileHeld(lower);
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right6->WhileHeld(raise);
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right7->WhenPressed(cycle);
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right9->WhenPressed(new BinOpenArms(2));
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right10->WhenPressed(new BinCloseArms(2));
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right4->CancelWhenPressed(raise);
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right6->CancelWhenPressed(lower);
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right4->CancelWhenPressed(cycle);
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right6->CancelWhenPressed(cycle);
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right7->CancelWhenPressed(raise);
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right7->CancelWhenPressed(lower);
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// Killall elevator functions
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right12->CancelWhenPressed(raise);
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right12->CancelWhenPressed(lower);
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right12->CancelWhenPressed(cycle);
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// BinElevator
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JoystickButton *right3 = new JoystickButton(rightStick, 3);
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JoystickButton *right5 = new JoystickButton(rightStick, 5);
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binRaise = new BinRaise(3.0);
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binLower = new BinLower(2.0);
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right3->WhileHeld(binLower);
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right3->CancelWhenPressed(binRaise);
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right5->WhileHeld(binRaise);
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right5->CancelWhenPressed(binLower);
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// BinCollector
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JoystickButton *left3 = new JoystickButton(leftStick, 3);
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JoystickButton *left4 = new JoystickButton(leftStick, 4);
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left3->WhileHeld(new BinIn(2.0));
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left4->WhileHeld(new BinOut(2.0));
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}
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Joystick* OI::GetRightStick() {
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return rightStick;
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}
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Joystick* OI::GetLeftStick() {
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return leftStick;
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}
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double OI::GetRightThrottle() {
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return (-rightStick->GetRawAxis(3)+1.0)/2;
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}
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double OI::GetLeftThrottle() {
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return (-leftStick->GetRawAxis(3)+1.0)/2;
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}
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// vim: ts=2:sw=2:et
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