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Mar 26th, 2019
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  1. if (Robot.m_oi.getDpadGame() == 0) {
  2. Robot.m_oi.gameJoyStick.setRumble(RumbleType.kRightRumble, 1);
  3. Timer.delay(0.25);
  4. Robot.m_oi.gameJoyStick.setRumble(RumbleType.kRightRumble, 0);
  5. Mode = 3;
  6. }
  7. else if (Robot.m_oi.getDpadGame() == 90) {
  8. Robot.m_oi.gameJoyStick.setRumble(RumbleType.kRightRumble, 1);
  9. Timer.delay(0.25);
  10. Robot.m_oi.gameJoyStick.setRumble(RumbleType.kRightRumble, 0);
  11. Mode = 1;
  12. }
  13. else if (Robot.m_oi.getDpadGame() == 180) {
  14. Robot.m_oi.gameJoyStick.setRumble(RumbleType.kRightRumble, 1);
  15. Timer.delay(0.25);
  16. Robot.m_oi.gameJoyStick.setRumble(RumbleType.kRightRumble, 0);
  17. Mode = 2;
  18. }
  19. else if (Robot.m_oi.getDpadGame() == 270) {
  20. Robot.m_oi.gameJoyStick.setRumble(RumbleType.kRightRumble, 1);
  21. Timer.delay(0.25);
  22. Robot.m_oi.gameJoyStick.setRumble(RumbleType.kRightRumble, 0);
  23. Mode = 4;
  24. }
  25.  
  26. if (Mode == 1) {
  27. //climb
  28. if (Robot.m_oi.gameJoyStick.getAButtonPressed()) {
  29. System.out.println("A mode 1");
  30. Scheduler.getInstance().add(new PneumaticsToggleCommand(1, !fs));
  31. }
  32. if (Robot.m_oi.gameJoyStick.getXButtonPressed()) {
  33. System.out.println("X mode 1");
  34. Scheduler.getInstance().add(new PneumaticsToggleCommand(2, !as));
  35. }
  36. if (Robot.m_oi.gameJoyStick.getBButtonPressed()) {
  37. System.out.println("B mode 1");
  38. Scheduler.getInstance().add(new PneumaticsToggleCommand(3, !bs));
  39. }
  40. if (Robot.m_oi.gameJoyStick.getYButtonPressed()) {
  41. System.out.println("Y mode 1");
  42. Scheduler.getInstance().add(new PneumaticsToggleCommand(1, !fs));
  43. Scheduler.getInstance().add(new PneumaticsToggleCommand(3, !bs));
  44. }
  45. if (Robot.m_oi.gameJoyStick.getBumper(Hand.kRight)) {
  46. System.out.println("Bumper mode 1");
  47. Scheduler.getInstance().add(new PneumaticsToggleCommand(5, !hs));
  48. }
  49. while (Robot.m_oi.getGameTriggerDrive() != 0)
  50. {
  51. // WPI_TalonSRX rearstrut = new WPI_TalonSRX(RobotMap.strutback);
  52. // rearstrut.set(-Robot.m_oi.getGameTriggerDrive());
  53. }
  54. }
  55. else if (Mode == 3) {
  56. //ball
  57. if (Robot.m_oi.gameJoyStick.getAButtonPressed()) {
  58. System.out.println("A mode 3");
  59. Scheduler.getInstance().add(new BallFloor());
  60. }
  61. if (Robot.m_oi.gameJoyStick.getBButtonPressed()) {
  62. System.out.println("B mode 3");
  63. Scheduler.getInstance().add(new BallLVL1());
  64. }
  65. if (Robot.m_oi.gameJoyStick.getYButtonPressed()) {
  66. System.out.println("Y mode 3");
  67. Scheduler.getInstance().add(new BallLVL2());
  68. }
  69. if (Robot.m_oi.gameJoyStick.getXButtonPressed()) {
  70. System.out.println("X mode 3");
  71. Scheduler.getInstance().add(new BallLVL3());
  72. }
  73. if (Robot.m_oi.gameJoyStick.getBumperPressed(Hand.kRight)) {
  74. System.out.println("Right Bumper mode 3");
  75. Scheduler.getInstance().add(new BallCargoShip());
  76. }
  77. if(Robot.m_oi.gameJoyStick.getBumperPressed(Hand.kLeft)) {
  78. System.out.println("Left Bumper mode 3");
  79. Scheduler.getInstance().add(new PneumaticsToggleCommand(2, !as));
  80. }
  81. if(Robot.m_oi.gameJoyStick.getStickButtonPressed(Hand.kLeft)) {
  82. System.out.println("Left Stick Pressed");
  83. Scheduler.getInstance().add(new PneumaticsToggleCommand(4, !ws));
  84. }
  85. if (Robot.m_oi.gameJoyStick.getY(Hand.kRight) != 0)
  86. {
  87. elevator.set(Robot.m_oi.gameJoyStick.getY(Hand.kRight));
  88. }
  89.  
  90. intake.set(Robot.m_oi.getGameTriggerDrive());
  91.  
  92. }
  93. else if (Mode == 2) {
  94. //hatch
  95. if (Robot.m_oi.gameJoyStick.getAButtonPressed()) {
  96. System.out.println("A mode 2");
  97. Scheduler.getInstance().add(new HatchLVLFloor());
  98. }
  99. if (Robot.m_oi.gameJoyStick.getBButtonPressed()) {
  100. System.out.println("B mode 2");
  101. Scheduler.getInstance().add(new HatchLVL1());
  102. }
  103. if (Robot.m_oi.gameJoyStick.getXButtonPressed()) {
  104. System.out.println("X mode 2");
  105. Scheduler.getInstance().add(new HatchLVL2());
  106. }
  107. if (Robot.m_oi.gameJoyStick.getYButtonPressed()) {
  108. System.out.println("Y mode 2");
  109. Scheduler.getInstance().add(new HatchLVL3());
  110. }
  111. if(Robot.m_oi.gameJoyStick.getBumperPressed(Hand.kLeft)) {
  112. System.out.println("Left Bumper mode 3");
  113. Scheduler.getInstance().add(new PneumaticsToggleCommand(2, !as));
  114. }
  115. if(Robot.m_oi.gameJoyStick.getStickButtonPressed(Hand.kLeft)) {
  116. System.out.println("Left Stick Pressed");
  117. Scheduler.getInstance().add(new PneumaticsToggleCommand(4, !ws));
  118. }
  119. if (Robot.m_oi.gameJoyStick.getY(Hand.kRight) != 0)
  120. {
  121. elevator.set(Robot.m_oi.gameJoyStick.getY(Hand.kRight));
  122. }
  123. if (Robot.m_oi.getGameTriggerDrive() != 0)
  124. {
  125. intake.set(Robot.m_oi.getGameTriggerDrive());
  126. }
  127. }
  128. else if (Mode == 4)
  129. {
  130. //debug
  131. if (Robot.m_oi.gameJoyStick.getAButtonPressed()) {
  132. System.out.println("A mode 4");
  133. Scheduler.getInstance().add(new PneumaticsToggleCommand(1, !fs));
  134. }
  135. if (Robot.m_oi.gameJoyStick.getXButtonPressed()) {
  136. System.out.println("X mode 4");
  137. }
  138. if (Robot.m_oi.gameJoyStick.getBButtonPressed()) {
  139. System.out.println("B mode 4");
  140. Scheduler.getInstance().add(new PneumaticsToggleCommand(3, !bs));
  141. }
  142. if (Robot.m_oi.gameJoyStick.getYButtonPressed()) {
  143. System.out.println("Y mode 4");
  144. }
  145. if(Robot.m_oi.gameJoyStick.getBumperPressed(Hand.kLeft)) {
  146. System.out.println("Left Bumper mode 3");
  147. Scheduler.getInstance().add(new PneumaticsToggleCommand(2, !as));
  148. }
  149. if(Robot.m_oi.gameJoyStick.getStickButtonPressed(Hand.kLeft)) {
  150. System.out.println("Left Stick Pressed");
  151. Scheduler.getInstance().add(new PneumaticsToggleCommand(4, !ws));
  152. }
  153. if (Robot.m_oi.gameJoyStick.getY(Hand.kRight) != 0)
  154. {
  155. elevator.set(Robot.m_oi.gameJoyStick.getY(Hand.kRight));
  156. }
  157. if (Robot.m_oi.getGameTriggerDrive() != 0)
  158. {
  159. intake.set(Robot.m_oi.getGameTriggerDrive());
  160. }
  161. }
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