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- if (Robot.m_oi.getDpadGame() == 0) {
- Robot.m_oi.gameJoyStick.setRumble(RumbleType.kRightRumble, 1);
- Timer.delay(0.25);
- Robot.m_oi.gameJoyStick.setRumble(RumbleType.kRightRumble, 0);
- Mode = 3;
- }
- else if (Robot.m_oi.getDpadGame() == 90) {
- Robot.m_oi.gameJoyStick.setRumble(RumbleType.kRightRumble, 1);
- Timer.delay(0.25);
- Robot.m_oi.gameJoyStick.setRumble(RumbleType.kRightRumble, 0);
- Mode = 1;
- }
- else if (Robot.m_oi.getDpadGame() == 180) {
- Robot.m_oi.gameJoyStick.setRumble(RumbleType.kRightRumble, 1);
- Timer.delay(0.25);
- Robot.m_oi.gameJoyStick.setRumble(RumbleType.kRightRumble, 0);
- Mode = 2;
- }
- else if (Robot.m_oi.getDpadGame() == 270) {
- Robot.m_oi.gameJoyStick.setRumble(RumbleType.kRightRumble, 1);
- Timer.delay(0.25);
- Robot.m_oi.gameJoyStick.setRumble(RumbleType.kRightRumble, 0);
- Mode = 4;
- }
- if (Mode == 1) {
- //climb
- if (Robot.m_oi.gameJoyStick.getAButtonPressed()) {
- System.out.println("A mode 1");
- Scheduler.getInstance().add(new PneumaticsToggleCommand(1, !fs));
- }
- if (Robot.m_oi.gameJoyStick.getXButtonPressed()) {
- System.out.println("X mode 1");
- Scheduler.getInstance().add(new PneumaticsToggleCommand(2, !as));
- }
- if (Robot.m_oi.gameJoyStick.getBButtonPressed()) {
- System.out.println("B mode 1");
- Scheduler.getInstance().add(new PneumaticsToggleCommand(3, !bs));
- }
- if (Robot.m_oi.gameJoyStick.getYButtonPressed()) {
- System.out.println("Y mode 1");
- Scheduler.getInstance().add(new PneumaticsToggleCommand(1, !fs));
- Scheduler.getInstance().add(new PneumaticsToggleCommand(3, !bs));
- }
- if (Robot.m_oi.gameJoyStick.getBumper(Hand.kRight)) {
- System.out.println("Bumper mode 1");
- Scheduler.getInstance().add(new PneumaticsToggleCommand(5, !hs));
- }
- while (Robot.m_oi.getGameTriggerDrive() != 0)
- {
- // WPI_TalonSRX rearstrut = new WPI_TalonSRX(RobotMap.strutback);
- // rearstrut.set(-Robot.m_oi.getGameTriggerDrive());
- }
- }
- else if (Mode == 3) {
- //ball
- if (Robot.m_oi.gameJoyStick.getAButtonPressed()) {
- System.out.println("A mode 3");
- Scheduler.getInstance().add(new BallFloor());
- }
- if (Robot.m_oi.gameJoyStick.getBButtonPressed()) {
- System.out.println("B mode 3");
- Scheduler.getInstance().add(new BallLVL1());
- }
- if (Robot.m_oi.gameJoyStick.getYButtonPressed()) {
- System.out.println("Y mode 3");
- Scheduler.getInstance().add(new BallLVL2());
- }
- if (Robot.m_oi.gameJoyStick.getXButtonPressed()) {
- System.out.println("X mode 3");
- Scheduler.getInstance().add(new BallLVL3());
- }
- if (Robot.m_oi.gameJoyStick.getBumperPressed(Hand.kRight)) {
- System.out.println("Right Bumper mode 3");
- Scheduler.getInstance().add(new BallCargoShip());
- }
- if(Robot.m_oi.gameJoyStick.getBumperPressed(Hand.kLeft)) {
- System.out.println("Left Bumper mode 3");
- Scheduler.getInstance().add(new PneumaticsToggleCommand(2, !as));
- }
- if(Robot.m_oi.gameJoyStick.getStickButtonPressed(Hand.kLeft)) {
- System.out.println("Left Stick Pressed");
- Scheduler.getInstance().add(new PneumaticsToggleCommand(4, !ws));
- }
- if (Robot.m_oi.gameJoyStick.getY(Hand.kRight) != 0)
- {
- elevator.set(Robot.m_oi.gameJoyStick.getY(Hand.kRight));
- }
- intake.set(Robot.m_oi.getGameTriggerDrive());
- }
- else if (Mode == 2) {
- //hatch
- if (Robot.m_oi.gameJoyStick.getAButtonPressed()) {
- System.out.println("A mode 2");
- Scheduler.getInstance().add(new HatchLVLFloor());
- }
- if (Robot.m_oi.gameJoyStick.getBButtonPressed()) {
- System.out.println("B mode 2");
- Scheduler.getInstance().add(new HatchLVL1());
- }
- if (Robot.m_oi.gameJoyStick.getXButtonPressed()) {
- System.out.println("X mode 2");
- Scheduler.getInstance().add(new HatchLVL2());
- }
- if (Robot.m_oi.gameJoyStick.getYButtonPressed()) {
- System.out.println("Y mode 2");
- Scheduler.getInstance().add(new HatchLVL3());
- }
- if(Robot.m_oi.gameJoyStick.getBumperPressed(Hand.kLeft)) {
- System.out.println("Left Bumper mode 3");
- Scheduler.getInstance().add(new PneumaticsToggleCommand(2, !as));
- }
- if(Robot.m_oi.gameJoyStick.getStickButtonPressed(Hand.kLeft)) {
- System.out.println("Left Stick Pressed");
- Scheduler.getInstance().add(new PneumaticsToggleCommand(4, !ws));
- }
- if (Robot.m_oi.gameJoyStick.getY(Hand.kRight) != 0)
- {
- elevator.set(Robot.m_oi.gameJoyStick.getY(Hand.kRight));
- }
- if (Robot.m_oi.getGameTriggerDrive() != 0)
- {
- intake.set(Robot.m_oi.getGameTriggerDrive());
- }
- }
- else if (Mode == 4)
- {
- //debug
- if (Robot.m_oi.gameJoyStick.getAButtonPressed()) {
- System.out.println("A mode 4");
- Scheduler.getInstance().add(new PneumaticsToggleCommand(1, !fs));
- }
- if (Robot.m_oi.gameJoyStick.getXButtonPressed()) {
- System.out.println("X mode 4");
- }
- if (Robot.m_oi.gameJoyStick.getBButtonPressed()) {
- System.out.println("B mode 4");
- Scheduler.getInstance().add(new PneumaticsToggleCommand(3, !bs));
- }
- if (Robot.m_oi.gameJoyStick.getYButtonPressed()) {
- System.out.println("Y mode 4");
- }
- if(Robot.m_oi.gameJoyStick.getBumperPressed(Hand.kLeft)) {
- System.out.println("Left Bumper mode 3");
- Scheduler.getInstance().add(new PneumaticsToggleCommand(2, !as));
- }
- if(Robot.m_oi.gameJoyStick.getStickButtonPressed(Hand.kLeft)) {
- System.out.println("Left Stick Pressed");
- Scheduler.getInstance().add(new PneumaticsToggleCommand(4, !ws));
- }
- if (Robot.m_oi.gameJoyStick.getY(Hand.kRight) != 0)
- {
- elevator.set(Robot.m_oi.gameJoyStick.getY(Hand.kRight));
- }
- if (Robot.m_oi.getGameTriggerDrive() != 0)
- {
- intake.set(Robot.m_oi.getGameTriggerDrive());
- }
- }
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