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https://github.com/wpilibsuite/allwpilib
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41 lines
1.2 KiB
C++
41 lines
1.2 KiB
C++
#include "OI.h"
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#include "Subsystems/Pivot.h"
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#include "Subsystems/Collector.h"
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#include "Commands/LowGoal.h"
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#include "Commands/Collect.h"
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#include "Commands/SetPivotSetpoint.h"
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#include "Commands/Shoot.h"
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#include "Commands/DriveForward.h"
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#include "Commands/SetCollectionSpeed.h"
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OI::OI() {
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joystick = new Joystick(1);
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R1 = new JoystickButton(joystick, 12);
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R1->WhenPressed(new LowGoal());
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R2 = new JoystickButton(joystick, 10);
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R2->WhenPressed(new Collect());
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L1 = new JoystickButton(joystick, 11);
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L1->WhenPressed(new SetPivotSetpoint(Pivot::SHOOT));
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L2 = new JoystickButton(joystick, 9);
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L2->WhenPressed(new SetPivotSetpoint(Pivot::SHOOT_NEAR));
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sticks = new DoubleButton(joystick, 2, 3);
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sticks->WhenActive(new Shoot());
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// SmartDashboard Buttons
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SmartDashboard::PutData("Drive Forward", new DriveForward(2.25));
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SmartDashboard::PutData("Drive Backward", new DriveForward(-2.25));
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SmartDashboard::PutData("Start Rollers", new SetCollectionSpeed(Collector::FORWARD));
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SmartDashboard::PutData("Stop Rollers", new SetCollectionSpeed(Collector::STOP));
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SmartDashboard::PutData("Reverse Rollers", new SetCollectionSpeed(Collector::REVERSE));
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}
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Joystick* OI::GetJoystick() {
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return joystick;
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}
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