mirror of
https://github.com/team2059/Dent
synced 2024-12-18 20:52:29 -05:00
68 lines
2.3 KiB
C++
68 lines
2.3 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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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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left1->WhileHeld(new RollIn(GetLeftThrottle()));
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left2->WhileHeld(new RollOut());
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// Elevator
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raise=new Raise();
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lower=new Lower();
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JoystickButton *right4=new JoystickButton(rightStick, 4);
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JoystickButton *right6=new JoystickButton(rightStick, 6);
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right4->WhenPressed(lower);
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right4->CancelWhenPressed(raise);
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right6->WhenPressed(raise);
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right6->CancelWhenPressed(lower);
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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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//JoystickButton *right7=new JoystickButton(rightStick, 7);
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//JoystickButton *right8=new JoystickButton(rightStick, 8);
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//right7->WhenPressed(new BinOpenArms());
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//right8->WhenPressed(new BinCloseArms());
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binRaise=new BinRaise(3.0);
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binLower=new BinLower(2.0);
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right3->WhenPressed(binLower);
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right3->CancelWhenPressed(binRaise);
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right5->WhenPressed(binRaise);
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right5->CancelWhenPressed(binLower);
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// Cancel
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JoystickButton *right12=new JoystickButton(rightStick, 12);
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right12->CancelWhenPressed(raise);
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right12->CancelWhenPressed(lower);
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right12->CancelWhenPressed(binRaise);
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right12->CancelWhenPressed(binLower);
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// Basic motor test
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CheckRobot* checkRobot=new CheckRobot();
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JoystickButton *left7=new JoystickButton(leftStick, 7);
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left7->WhenPressed(checkRobot);
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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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