mirror of
https://github.com/team2059/Dent
synced 2024-12-18 20:52:29 -05:00
54 lines
1.8 KiB
C++
54 lines
1.8 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/OpenCollector.h"
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#include "Commands/Collector/CloseCollector.h"
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#include "Commands/Collector/CollectTote.h"
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#include "Commands/Collector/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 *right1=new JoystickButton(rightStick, 1);
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JoystickButton *right2=new JoystickButton(rightStick, 2);
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JoystickButton *left3=new JoystickButton(leftStick, 3);
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JoystickButton *left4=new JoystickButton(leftStick, 4);
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right1->WhileHeld(new OpenCollector());
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right2->WhileHeld(new CloseCollector());
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left3->WhileHeld(new CollectTote());
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left4->WhileHeld(new ReleaseTote());
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// Elevator
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Raise* raise=new Raise();
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Lower* lower=new Lower();
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JoystickButton *right3=new JoystickButton(rightStick, 3);
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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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right3->WhenPressed(lower);
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right4->WhenPressed(lower);
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right3->CancelWhenPressed(raise);
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right4->CancelWhenPressed(raise);
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right5->WhenPressed(raise);
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right6->WhenPressed(raise);
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right5->CancelWhenPressed(lower);
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right6->CancelWhenPressed(lower);
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// Cancel
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JoystickButton *right8=new JoystickButton(rightStick, 8);
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right8->CancelWhenPressed(raise);
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right8->CancelWhenPressed(lower);
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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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// vim: ts2:sw=2:et
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