def init():
global joystick
joystick = Joystick(0)
crossbow = JoystickButton(joystick, 5)
crossbow_in_hold = JoystickButton(joystick, 6)
solenoid_intake = JoystickButton(joystick, 1)
crossbow.whenPressed(Crossbow(0.8, 1))
crossbow_in_hold.whenPressed(Crossbow(-0.6, 1.75))
solenoid_intake.whenPressed(PullIntake())
intake = JoystickButton(joystick, 4)
intake.toggleWhenPressed(Intake())
class OI():
backwardsButton = False
backwardsToggle = False
def __init__(self):
self.joystick = wpilib.Joystick(robotMap.JOYSTICK)
self.gamepad = wpilib.Joystick(robotMap.GAMEPAD)
self.winchToggle = JoystickButton(self.joystick, robotMap.WINCHTOGGLE)
from commands import teleClimb
self.winchToggle.toggleWhenPressed(teleClimb.TeleClimb())
def getLeftSpeed(self):
return self.gamepad.getRawAxis(robotMap.LEFTDRIVECONTROL)
def getRightSpeed(self):
return self.gamepad.getRawAxis(robotMap.RIGHTDRIVECONTROL)
def backwardsCheck(self):
if (self.backwardsButton and not self.gamepad.getRawButton(robotMap.REVERSE)):
self.backwardsButton = False
elif (not self.backwardsButton and self.gamepad.getRawButton(robotMap.REVERSE)) :
self.backwardsButton = True
self.backwardsToggle = not self.backwardsToggle
def getBackwards(self):
return self.backwardsToggle
def getSlowDown(self):
return self.gamepad.getRawButton(robotMap.SLOWDOWN)
def getWinchSpeed(self):
return self.joystick.getRawAxis(robotMap.WINCH)
def getPOV(self):
return self.gamepad.getPOV()