Remap Button Action

[notmattlythgoe]

Originally Posted by 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

/*
 * To change this license header, choose License Headers in Project Properties.
 * 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());
    }
}

The simplest way to do this for now would be to have it check the switch on start up and initialize the buttons one way or another. You wouldn't be able to switch it on the fly with the robot on, but with a restart you could switch back and forth.