Remap Button Action

[jwakeman]

My intent is to be able to have a different set of controls (xbox controller mapping) for the field and for the pit at the flip of a switch. The code below is not tested yet but the idea is to create new Button objects and set their WhenPressed()/WhileHeld() methods each time I want to switch the interface. I have a command that will check the switch as a DigitalInput and reconfigure the interface when needed.

CheckOIConfig.java

/*
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 * To change this template file, choose Tools | Templates
 * and open the template in the editor.
 */
package edu.wpi.first.wpilibj.templates.commands;

/**
 *
 * @author team63
 */
public class CheckOIConfig extends CommandBase {
    
    public CheckOIConfig() {
    }

    // Called just before this Command runs the first time
    protected void initialize() {
    }

    // Called repeatedly when this Command is scheduled to run
    protected void execute() {
        if(throwSwitch1.get() && oi.current_interface == oi.CONFIG_FIELD_INTERFACE)
        {
            oi.setPitInterface();
        }
        
        if(!throwSwitch1.get() && oi.current_interface == oi.CONFIG_PIT_INTERFACE)
        {
            oi.setFieldInterface();
        }
    }

    // Make this return true when this Command no longer needs to run execute()
    protected boolean isFinished() {
        return true;
    }

    // Called once after isFinished returns true
    protected void end() {
    }

    // Called when another command which requires one or more of the same
    // subsystems is scheduled to run
    protected void interrupted() {
    }
}

OI.java:

package edu.wpi.first.wpilibj.templates;

import edu.wpi.first.wpilibj.Joystick;
import edu.wpi.first.wpilibj.buttons.Button;
import edu.wpi.first.wpilibj.buttons.JoystickButton;
import edu.wpi.first.wpilibj.templates.command.CommandGroup.GoToCatchPosition;
import edu.wpi.first.wpilibj.templates.command.CommandGroup.GoToGrabPosition;
import edu.wpi.first.wpilibj.templates.command.CommandGroup.GoToShootPosition;
import edu.wpi.first.wpilibj.templates.command.CommandGroup.ShootBall;
import edu.wpi.first.wpilibj.templates.command.CommandGroup.SpitBall;
import edu.wpi.first.wpilibj.templates.commands.ElbowExtend;
import edu.wpi.first.wpilibj.templates.commands.ElbowRetract;
import edu.wpi.first.wpilibj.templates.commands.FeedMotorManual;
import edu.wpi.first.wpilibj.templates.commands.ForkExtend;
import edu.wpi.first.wpilibj.templates.commands.ForkRetract;
import edu.wpi.first.wpilibj.templates.commands.HighDriveCommand;
import edu.wpi.first.wpilibj.templates.commands.HighGear;
import edu.wpi.first.wpilibj.templates.commands.LowGear;
import edu.wpi.first.wpilibj.templates.commands.ShooterDriveOverride;
import edu.wpi.first.wpilibj.templates.commands.ShooterDriveRelease;
import edu.wpi.first.wpilibj.templates.commands.WinchManual;
import edu.wpi.first.wpilibj.templates.commands.WinchPinExtend;
import edu.wpi.first.wpilibj.templates.commands.WinchPinRetract;
import edu.wpi.first.wpilibj.templates.commands.WristExtend;
import edu.wpi.first.wpilibj.templates.commands.WristRetract;

/**
 * This class is the glue that binds the controls on the physical operator
 * interface to the commands and command groups that allow control of the robot.
 */

public class OI {
    
    public final int CONFIG_FIELD_INTERFACE = 1;
    public final int CONFIG_PIT_INTERFACE = 2;
    
    public int current_interface = CONFIG_FIELD_INTERFACE;
    
    public Joystick stick1 = new Joystick(1);
    public Joystick stick2 = new Joystick(2);
    
    public Button stick1_BACK;
    public Button stick1_START;
    public Button stick1_LEFT_BUMPER;
    public Button stick1_RIGHT_BUMPER;
    public Button stick1_Y;
    public Button stick1_X;
    public Button stick1_B;
    public Button stick1_A;
        
    public Button stick2_BACK;
    public Button stick2_START;
    public Button stick2_LEFT_BUMPER;
    public Button stick2_RIGHT_BUMPER;
    public Button stick2_Y;
    public Button stick2_X;
    public Button stick2_B;
    public Button stick2_A;

    public OI()
    {
        this.setFieldInterface();
    }
    
    public final void setFieldInterface()
    {
        current_interface = CONFIG_FIELD_INTERFACE;
        
        stick1_BACK = new JoystickButton(stick1, RobotMap.XBOX_BACK);
        stick1_START = new JoystickButton(stick1, RobotMap.XBOX_START);
        stick1_LEFT_BUMPER = new JoystickButton(stick1, RobotMap.XBOX_LEFT_BUMPER);
        stick1_RIGHT_BUMPER = new JoystickButton(stick1, RobotMap.XBOX_RIGHT_BUMPER);        
        stick1_Y = new JoystickButton(stick1, RobotMap.XBOX_Y);
        stick1_X = new JoystickButton(stick1, RobotMap.XBOX_X);
        stick1_B = new JoystickButton(stick1, RobotMap.XBOX_B);
        stick1_A = new JoystickButton(stick1, RobotMap.XBOX_A);

        stick2_BACK = new JoystickButton(stick2, RobotMap.XBOX_BACK);
        stick2_START = new JoystickButton(stick2, RobotMap.XBOX_START);
        stick2_LEFT_BUMPER = new JoystickButton(stick2, RobotMap.XBOX_LEFT_BUMPER);
        stick2_RIGHT_BUMPER = new JoystickButton(stick2, RobotMap.XBOX_RIGHT_BUMPER);        
        stick2_Y = new JoystickButton(stick2, RobotMap.XBOX_Y);
        stick2_X = new JoystickButton(stick2, RobotMap.XBOX_X);
        stick2_B = new JoystickButton(stick2, RobotMap.XBOX_B);
        stick2_A = new JoystickButton(stick2, RobotMap.XBOX_A);
        
        stick1_Y.whenPressed(new GoToGrabPosition());
        stick1_X.whenPressed(new GoToShootPosition());
        stick1_LEFT_BUMPER.whenPressed(new GoToCatchPosition());
        stick1_RIGHT_BUMPER.whileHeld(new HighDriveCommand());      

        stick2_RIGHT_BUMPER.whileHeld(new ShooterDriveOverride());
        stick2_RIGHT_BUMPER.whenReleased(new ShooterDriveRelease());
        stick2_B.whenPressed(new ShootBall());
        stick2_A.whenPressed(new SpitBall());            
    }
    
    public final void setPitInterface()
    {
        current_interface = CONFIG_PIT_INTERFACE;
        
        stick1_BACK = new JoystickButton(stick1, RobotMap.XBOX_BACK);
        stick1_START = new JoystickButton(stick1, RobotMap.XBOX_START);
        stick1_LEFT_BUMPER = new JoystickButton(stick1, RobotMap.XBOX_LEFT_BUMPER);
        stick1_RIGHT_BUMPER = new JoystickButton(stick1, RobotMap.XBOX_RIGHT_BUMPER);        
        stick1_Y = new JoystickButton(stick1, RobotMap.XBOX_Y);
        stick1_X = new JoystickButton(stick1, RobotMap.XBOX_X);
        stick1_B = new JoystickButton(stick1, RobotMap.XBOX_B);
        stick1_A = new JoystickButton(stick1, RobotMap.XBOX_A);

        stick2_BACK = new JoystickButton(stick2, RobotMap.XBOX_BACK);
        stick2_START = new JoystickButton(stick2, RobotMap.XBOX_START);
        stick2_LEFT_BUMPER = new JoystickButton(stick2, RobotMap.XBOX_LEFT_BUMPER);
        stick2_RIGHT_BUMPER = new JoystickButton(stick2, RobotMap.XBOX_RIGHT_BUMPER);        
        stick2_Y = new JoystickButton(stick2, RobotMap.XBOX_Y);
        stick2_X = new JoystickButton(stick2, RobotMap.XBOX_X);
        stick2_B = new JoystickButton(stick2, RobotMap.XBOX_B);
        stick2_A = new JoystickButton(stick2, RobotMap.XBOX_A);
        
        stick1_LEFT_BUMPER.whenPressed(new LowGear());
        stick1_RIGHT_BUMPER.whenPressed(new HighGear());        
        stick1_X.whenPressed(new ForkRetract());
        stick1_B.whenPressed(new ForkExtend());
        stick1_Y.whenPressed(new ElbowExtend());
        stick1_A.whenPressed(new ElbowRetract());
        
        stick2_BACK.whenPressed(new WinchPinRetract());
        stick2_START.whenPressed(new WinchPinExtend());
        stick2_LEFT_BUMPER.whileHeld(new FeedMotorManual());
        stick2_RIGHT_BUMPER.whileHeld(new WinchManual());
        stick2_Y.whenPressed(new WristExtend());
        stick2_A.whenPressed(new WristRetract());
    }
}