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https://github.com/wpilibsuite/allwpilib
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51 lines
1.3 KiB
C++
51 lines
1.3 KiB
C++
/*
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* OI.cpp
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*
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* Created on: Jun 3, 2014
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* Author: alex
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*/
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#include "OI.h"
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#include "Commands/SetElevatorSetpoint.h"
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#include "Commands/OpenClaw.h"
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#include "Commands/CloseClaw.h"
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#include "Commands/PrepareToPickup.h"
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#include "Commands/Pickup.h"
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#include "Commands/Place.h"
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#include "Commands/Autonomous.h"
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OI::OI() {
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SmartDashboard::PutData("Open Claw", new OpenClaw());
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SmartDashboard::PutData("Close Claw", new CloseClaw());
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joy= new Joystick(0);
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// Create some buttons
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JoystickButton* d_up = new JoystickButton(joy, 5);
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JoystickButton* d_right= new JoystickButton(joy, 6);
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JoystickButton* d_down= new JoystickButton(joy, 7);
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JoystickButton* d_left = new JoystickButton(joy, 8);
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JoystickButton* l2 = new JoystickButton(joy, 9);
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JoystickButton* r2 = new JoystickButton(joy, 10);
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JoystickButton* l1 = new JoystickButton(joy, 11);
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JoystickButton* r1 = new JoystickButton(joy, 12);
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// Connect the buttons to commands
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d_up->WhenPressed(new SetElevatorSetpoint(0.2));
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d_down->WhenPressed(new SetElevatorSetpoint(-0.2));
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d_right->WhenPressed(new CloseClaw());
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d_left->WhenPressed(new OpenClaw());
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r1->WhenPressed(new PrepareToPickup());
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r2->WhenPressed(new Pickup());
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l1->WhenPressed(new Place());
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l2->WhenPressed(new Autonomous());
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}
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Joystick* OI::GetJoystick() {
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return joy;
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}
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