Java JoystickButton.whenPressed方法代碼示例

import edu.wpi.first.wpilibj.buttons.JoystickButton; //導入方法依賴的package包/類
public OI(){
	joystick = new Joystick(0);
	jyButton1 = new JoystickButton(joystick, 1);
    
	xbox = new Joystick(1);
	xbButton1 = new JoystickButton(xbox, 1);
	xbButton2 = new JoystickButton(xbox, 2);
	xbButton3 = new JoystickButton(xbox, 3);
	xbButton4 = new JoystickButton(xbox, 4);
	xbButton5 = new JoystickButton(xbox, 5);
	xbButton6 = new JoystickButton(xbox, 6);

	
    jyButton1.whileHeld(new FineControl());
    
    xbButton1.whileHeld(new Shoot());
    xbButton2.toggleWhenPressed(new IntakeToggle());
    xbButton3.toggleWhenPressed(new ToggleShooter());
    xbButton4.whenPressed(new ClawSet());
    xbButton5.whenPressed(new GripControl(0));
    xbButton6.whenPressed(new GripControl(1));
    
}
 

import edu.wpi.first.wpilibj.buttons.JoystickButton; //導入方法依賴的package包/類
public OI() {
    joystick1 = new Joystick(RobotMap.J1);
    joystick2 = new Joystick(RobotMap.J2);
    
    Snake = new JoystickButton(joystick1, ButtonType.LeftThumb);
        Snake.whileHeld(new Subsystem.Swerve.C_Snake());
    GoToHeading = new JoystickButton(joystick1, ButtonType.RightThumb);
        GoToHeading.whileHeld(new Subsystem.Swerve.C_GoToHeading());
    Pivot0 = new JoystickButton(joystick1, ButtonType.L1);
        Pivot0.whileHeld(new Subsystem.Swerve.C_Pivot());
    Pivot1 = new JoystickButton(joystick1, ButtonType.R1);
        Pivot1.whileHeld(new Subsystem.Swerve.C_Pivot());
    Pivot2 = new Bumper(joystick1, Axis.Trigger);
        Pivot2.whileHeld(new Subsystem.Swerve.C_Pivot());
    ZeroModules = new JoystickButton(joystick1, ButtonType.A);
        ZeroModules.whenPressed(new Subsystem.Swerve.C_ZeroModules());
    ResetGyro = new JoystickButton(joystick1, ButtonType.B);
    	ResetGyro.whenPressed(new Subsystem.Swerve.C_ResetGyro());
    CancelZeroModules = new JoystickButton(joystick1, ButtonType.X);
}
 

import edu.wpi.first.wpilibj.buttons.JoystickButton; //導入方法依賴的package包/類
public OI() {        
    leftJoy = new Joystick(RobotMap.LEFT_JOY_PORT);
    rightJoy = new Joystick(RobotMap.RIGHT_JOY_PORT);
    shootController = new Joystick(RobotMap.SHOOTER_CONTROLLER_PORT);
    
    rightTriggerButton = new JoystickButton(rightJoy, 1);
    
    loadButton = new JoystickButton(shootController, 9);
    
    shootButton = new JoystickButton(shootController, 2);
    shootUp = new JoystickButton(shootController,6);
    shootDown = new JoystickButton(shootController,5);
    
    overrideButton = new JoystickButton(shootController,8);
    LEDButton = new JoystickButton(shootController,7);       

    rightTriggerButton.whenPressed(new WriteHeight());
    loadButton.whenPressed(new Load());
    shootUp.whenPressed(new ShootSpeedUp());
    shootDown.whenPressed(new ShootSpeedDown());
    overrideButton.whenPressed(new OverrideMode());
    LEDButton.whenPressed(new LED());
}
 

import edu.wpi.first.wpilibj.buttons.JoystickButton; //導入方法依賴的package包/類
public OI() {
		leftStick = new Joystick(1);
		rightStick = new Joystick(2);

		xboxController = new XboxController(3);

		// Joystick buttons
		upShifter = new JoystickButton(rightStick, 7);
		downShifter = new JoystickButton(leftStick, 7);

		leftTrigger = new JoystickButton(leftStick, 1);
		rightTrigger = new JoystickButton(rightStick, 1);
		
		//Drive Controls
		leftTrigger.whenPressed(new GearShiftCommand(true));
		rightTrigger.whenPressed(new GearShiftCommand(false));
		
		//Intake Controls
		xboxController.a.whileHeld(new IntakeRollerCommand("out"));
		xboxController.y.whileHeld(new IntakeRollerCommand("in"));
		xboxController.x.whenReleased(new IntakePistonCommand());
		
		//Shooter Controls
//		xboxController.dPad.up.whenPressed(new ShooterWheelToggleCommand(true));
//		xboxController.dPad.down.whenPressed(new ShooterWheelToggleCommand(false));
		
		xboxController.rt.whenPressed(new ShooterPistonCommand(false));
		xboxController.lt.whenPressed(new ShooterPistonCommand(true));
		xboxController.b.whileHeld(new ShooterWheelCommand());
		
		if(xboxController.rb.get()){
			Robot.intakeRollerSubsystem.setOverride(true);
		}
		
		xboxController.rb.whenReleased(new DefensePistonCommand(true));
		xboxController.lb.whenReleased(new DefensePistonCommand(false));
        
	}
 

import edu.wpi.first.wpilibj.buttons.JoystickButton; //導入方法依賴的package包/類
public OI() {
	// Put Some buttons on the SmartDashboard
    SmartDashboard.putData("Elevator Bottom", new SetElevatorSetpoint(0));
    SmartDashboard.putData("Elevator Platform", new SetElevatorSetpoint(0.2));
    SmartDashboard.putData("Elevator Top", new SetElevatorSetpoint(0.3));
    
    SmartDashboard.putData("Wrist Horizontal", new SetWristSetpoint(0));
    SmartDashboard.putData("Raise Wrist", new SetWristSetpoint(-45));
    
    SmartDashboard.putData("Open Claw", new OpenClaw());
    SmartDashboard.putData("Close Claw", new CloseClaw());
    
    SmartDashboard.putData("Deliver Soda", new Autonomous());
    
    // Create some buttons
    JoystickButton d_up = new JoystickButton(joy, 5);
    JoystickButton d_right= new JoystickButton(joy, 6);
    JoystickButton d_down= new JoystickButton(joy, 7);
    JoystickButton d_left = new JoystickButton(joy, 8);
    JoystickButton l2 = new JoystickButton(joy, 9);
    JoystickButton r2 = new JoystickButton(joy, 10);
    JoystickButton l1 = new JoystickButton(joy, 11);
    JoystickButton r1 = new JoystickButton(joy, 12);

    // Connect the buttons to commands
    d_up.whenPressed(new SetElevatorSetpoint(0.2));
    d_down.whenPressed(new SetElevatorSetpoint(-0.2));
    d_right.whenPressed(new CloseClaw());
    d_left.whenPressed(new OpenClaw());
    
    r1.whenPressed(new PrepareToPickup());
    r2.whenPressed(new Pickup());
    l1.whenPressed(new Place());
    l2.whenPressed(new Autonomous());
}
 

import edu.wpi.first.wpilibj.buttons.JoystickButton; //導入方法依賴的package包/類
/**
 * Receive a joystick and then map controls to it.
 *
 * @param joysticks The joysticks used for buttons
 */
public OI(GenericHID... joysticks) {
    // button map
    liftUpButton = new JoystickButton(joysticks[0], 5);
    liftDownButton = new JoystickButton(joysticks[0], 3);

    forkInButton = new JoystickButton(joysticks[0], 1);
    forkOutButton = new JoystickButton(joysticks[0], 2);

    extGrabButton = new JoystickButton(joysticks[0], 6);
    extThrowButton = new JoystickButton(joysticks[0], 4);

    reverseButton = new JoystickButton(joysticks[0], 12);

    // button controls
    liftUpButton.whileHeld(new Lift(1));
    liftDownButton.whileHeld(new Lift(-1));

    liftUpButton.whenReleased(new Lift(0));
    liftDownButton.whenReleased(new Lift(0));

    forkInButton.whileHeld(new Fork(1));
    forkOutButton.whileHeld(new Fork(-0.666));

    forkInButton.whenReleased(new Fork(0));
    forkOutButton.whenReleased(new Fork(0));

    extGrabButton.whileHeld(new ExtArm(1));
    extThrowButton.whileHeld(new ExtArm(-1));

    extGrabButton.whenReleased(new ExtArm(0));
    extThrowButton.whenReleased(new ExtArm(0));

    reverseButton.whenPressed(new ReverseDrive());
}
 

import edu.wpi.first.wpilibj.buttons.JoystickButton; //導入方法依賴的package包/類
public OI() {
       driveJoystick1 = new Joystick(JOY_STICK_PORT1);
       driveJoystick2 = new Joystick(JOY_STICK_PORT2);
       gamepad = new Gamepad(GAME_PAD_PORT);   
       xbox = new XBoxController(XBOX_PORT);
       
       ArmJoystickUp = new JoystickButton(driveJoystick1, 3);
       ArmJoystickUp.whenPressed(new LiftArm(0.2));
       
       ArmJoystickDown = new JoystickButton (driveJoystick1, 2);
       ArmJoystickDown.whenPressed(new LiftArm(-0.2));
       

       ArmXboxUp = new JoystickButton (xbox, 5);
       ArmXboxUp.whileHeld(new LiftArm(.5));

       ArmXboxDown = new JoystickButton (xbox, 6);
       ArmXboxDown.whileHeld(new LiftArm(-0.5));
       
       WindUp = new JoystickButton (xbox, 4);
       WindUp.whileHeld(new WindUp());
       
//     WindUp = new JoystickButton (xbox, 4);
//     WindUp.whenPressed(new WindUp());       

       Release = new JoystickButton (xbox, 1);
       Release.whenPressed(new UnWind());       
       
     /*  OpenNet = new JoystickButton (xbox, 6);
       OpenNet.whenPressed(new OpenNet());
       
       CloseNet = new JoystickButton(xbox, 5);
       CloseNet.whenPressed(new CloseNet());
       
       DumpBall = new JoystickButton (xbox, 4);
       DumpBall.whenPressed(new DumpBall());    */  
    }
 

import edu.wpi.first.wpilibj.buttons.JoystickButton; //導入方法依賴的package包/類
public OI() {
    xbox = new XboxController(1); //Be careful not to plug in multiple USB Items...
    
    switchSpin = new JoystickButton(xbox, RobotMap.PASS);
    launch = new JoystickButton(xbox, RobotMap.LAUNCH);
    toggleGrabber = new JoystickButton(xbox, RobotMap.PASS_TOGGLE);
    
    switchSpin.whenPressed(new PassCommand());
    launch.whenPressed(new LaunchCommandGroup());
    toggleGrabber.whenPressed(new ToggleGrabber());
}
 

import edu.wpi.first.wpilibj.buttons.JoystickButton; //導入方法依賴的package包/類
public OI(){
          
    raiseForkLiftButton = new JoystickButton(stick2, 1);
    lowerForkLiftButton = new JoystickButton(stick2, 2);
    raiseDumperButton   = new JoystickButton(stick2, 5);
    lowerDumperButton   = new JoystickButton(stick2, 6);
    raiseGoalieButton   = new JoystickButton(stick2, 7);
    lowerGoalieButton   = new JoystickButton(stick2, 8);
    fireAndWaitButton   = new JoystickButton(stick2, 4);
    sonicButton         = new JoystickButton(stick2, 10);
    
    joyThresh           = new Hole(OI.getStick(), 1,1,1,1);
    raiseForkLiftButton.whenPressed(new RaiseForkLift());
    lowerForkLiftButton.whenPressed(new LowerForkLift());
    raiseGoalieButton.whenPressed(new GoalieUp());
    lowerGoalieButton.whenPressed(new GoalieDown());
    raiseDumperButton.whenPressed(new LiftDumper());
    lowerDumperButton.whenPressed(new LowerDumper());
    fireAndWaitButton.whenPressed(new FireAndWait());
    sonicButton.whenPressed(new SonicTest());
    SmartDashboard.putNumber("Ultrasonic Value:", SensorBase.sonic.getVoltage()/9.766);
    SmartDashboard.putBoolean("GoalieDown:", OI.goalie.atGoalieDownStop());
    SmartDashboard.putBoolean("GoalieUp:", OI.goalie.atGoalieUpStop());
    SmartDashboard.getBoolean("ForkUp", OI.forkLift.atUpperStop());
    SmartDashboard.getBoolean("ForkDown", OI.forkLift.atLowerStop());
    SmartDashboard.getBoolean("DumperUp", OI.dumper.AtUpperStop());
    SmartDashboard.getBoolean("DumperDown", OI.dumper.AtLowerStop());
    SmartDashboard.getNumber("DriveOutput1", Chassis.victor1.getSpeed());
    SmartDashboard.getNumber("DriveOutput2", Chassis.victor2.getSpeed());
    SmartDashboard.getNumber("DriveOutput3", Chassis.victor3.getSpeed());
    SmartDashboard.getNumber("DriveOutput4", Chassis.victor4.getSpeed());
}
 

import edu.wpi.first.wpilibj.buttons.JoystickButton; //導入方法依賴的package包/類
public OI() {
    // BEGIN AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=CONSTRUCTORS
    secondaryController = new Joystick(2);

    retractCatcherButton = new JoystickButton(secondaryController, 6);
    retractCatcherButton.whenPressed(new CatcherRetractCommand());
    extendCatcherButton = new JoystickButton(secondaryController, 8);
    extendCatcherButton.whenPressed(new CatcherExtendCommand());
    retractSweeperButton = new JoystickButton(secondaryController, 5);
    retractSweeperButton.whenPressed(new SweeperRetractCommand());
    extendSweeperButton = new JoystickButton(secondaryController, 7);
    extendSweeperButton.whenPressed(new SweeperExtendCommand());
    sweeperEjectButton = new JoystickButton(secondaryController, 4);
    sweeperEjectButton.whenPressed(new SweeperEjectCommand());
    sweeperOffButton = new JoystickButton(secondaryController, 1);
    sweeperOffButton.whenPressed(new SweeperOffCommand());
    sweeperSweepButton = new JoystickButton(secondaryController, 2);
    sweeperSweepButton.whenPressed(new SweeperSweepCommand());
    driveJoystick = new Joystick(1);

    enableFieldCentricControl = new JoystickButton(driveJoystick, 7);
    enableFieldCentricControl.whenPressed(new FieldCentricMecanumDriveCommand());
    enableNormalDriveButton = new JoystickButton(driveJoystick, 8);
    enableNormalDriveButton.whenPressed(new DriveCommand());
    resetGyroButton = new JoystickButton(driveJoystick, 12);
    resetGyroButton.whenPressed(new ResetGyroComand());
    fieldCentricMecanumDriveButton = new JoystickButton(driveJoystick, 8);
    fieldCentricMecanumDriveButton.whenPressed(new FieldCentricMecanumDriveCommand());

    // SmartDashboard Buttons
    SmartDashboard.putData("Sweeper Extend Command", new SweeperExtendCommand());
    SmartDashboard.putData("Sweeper Retract Command", new SweeperRetractCommand());
    SmartDashboard.putData("Sweeper Sweep Command", new SweeperSweepCommand());
    SmartDashboard.putData("Sweeper Eject Command", new SweeperEjectCommand());
    SmartDashboard.putData("Sweeper Off Command", new SweeperOffCommand());
    SmartDashboard.putData("Catcher Extend Command", new CatcherExtendCommand());
    SmartDashboard.putData("Catcher Retract Command", new CatcherRetractCommand());
    SmartDashboard.putData("Reset Gyro Comand", new ResetGyroComand());
    // END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=CONSTRUCTORS
}
 

import edu.wpi.first.wpilibj.buttons.JoystickButton; //導入方法依賴的package包/類
public static void init() {
	left = new Joystick(1);
	right = new Joystick(2);
	xboxController = new XboxController(left);
               		
	shootButton = new JoystickButton(left, JOYSTICK_SPIN_UP_SHOOTER);
	shootButton.whileHeld(new SpeedUpShooter());
               
               testSlowCommand = new JoystickButton(right, JOYSTICK_TEST_SLOW_COMMAND);
               testSlowCommand.whenPressed(new TestSlowDownShooter());
               
               angleUp = new JoystickButton(left, JOYSTICK_ANGLE_UP);
               angleUp.whileHeld(new MoveShooterAngleUp());
             
               angleDown = new JoystickButton(left, JOYSTICK_ANGLE_DOWN);
	angleDown.whileHeld(new MoveShooterAngleDown());
               
	shootFrisbee = new JoystickButton(right, JOYSTICK_SHOOT);
	shootFrisbee.whenPressed(new PushFrisbeeOut());
			
	startCompressor = new JoystickButton(left, JOYSTICK_COMPRESSOR_DRIVER);
	startCompressor.whileHeld(new StartCompressor());
	
	liftUp = new JoystickButton(right, JOYSTICK_LIFTER);
	liftUp.whenPressed(new ToggleLifter());
	
	resetEncoder = new JoystickButton(right, JOYSTICK_RESET_ENCODER);
	resetEncoder.whenPressed(new ResetAngleEncoder());
}
 

import edu.wpi.first.wpilibj.buttons.JoystickButton; //導入方法依賴的package包/類
public OI(Scheduler scheduler) {
        joystick = new Joystick(RobotMap.JOYSTICK_PORT);
        triggerButton = new JoystickButton(joystick, RobotMap.JSBUTTON_TRIGGER);
        gyroReset=new JoystickButton(joystick,RobotMap.JSBUTTON_GYRO_RESET);
        gyroReset.whenPressed(new GyroReset());
//        triggerButton.whenPressed(new DriveWithJoystick());
//        (new DriveWithJoystick()).start();
        scheduler.add(new DriveWithJoystick());
    }
 

import edu.wpi.first.wpilibj.buttons.JoystickButton; //導入方法依賴的package包/類
public OI() {
	double speed = Preferences.getInstance().getDouble(RobotMap.desiredSpeed, 0.0);
	double distance = Preferences.getInstance().getDouble(RobotMap.desiredDistance, 0.0);
	SmartDashboard.putData(new DriveDistance(distance, speed));
	SmartDashboard.putData(new CenterGearAutonomous());
	SmartDashboard.putData(new UpManipulator());
	SmartDashboard.putData(new DriveStraightAuto(distance, speed));

	JoystickButton leftJoyTrigger = new JoystickButton(stickLeft, 1);
	JoystickButton button2Left = new JoystickButton(stickLeft, 2);
	JoystickButton button3Left = new JoystickButton(stickLeft, 3);
	JoystickButton button4Left = new JoystickButton(stickLeft, 4);
	JoystickButton button5Left = new JoystickButton(stickLeft, 5);
	JoystickButton button6Left = new JoystickButton(stickLeft, 6);
	JoystickButton button7Left = new JoystickButton(stickLeft, 7);
	JoystickButton button8Left = new JoystickButton(stickLeft, 8);
	JoystickButton button9Left = new JoystickButton(stickLeft, 9);
	JoystickButton button10Left = new JoystickButton(stickLeft, 10);
	JoystickButton button11Left = new JoystickButton(stickLeft, 11);

	JoystickButton rightJoyTrigger = new JoystickButton(stickRight, 1);
	// JoystickButton button2Right = new JoystickButton(stickRight, 2);
	// JoystickButton button3Right = new JoystickButton(stickRight, 3);
	// JoystickButton button4Right = new JoystickButton(stickRight, 4);
	// JoystickButton button5Right = new JoystickButton(stickRight, 5);
	// JoystickButton button6Right = new JoystickButton(stickRight, 6);
	// JoystickButton button7Right = new JoystickButton(stickRight, 7);
	// JoystickButton button8Right = new JoystickButton(stickRight, 8);
	// JoystickButton button9Right = new JoystickButton(stickRight, 9);
	// JoystickButton button10Right = new JoystickButton(stickRight, 10);
	// JoystickButton button11Right = new JoystickButton(stickRight, 11);

	JoystickButton buttonA = new JoystickButton(xbox, 1);
	JoystickButton buttonB = new JoystickButton(xbox, 2);
	JoystickButton buttonX = new JoystickButton(xbox, 3);
	JoystickButton buttonY = new JoystickButton(xbox, 4);
	// XboxLeftTrigger xboxLeftTrigger = new XboxLeftTrigger();
	// XboxRightTrigger xboxRightTrigger = new XboxRightTrigger();

	JoystickButton leftButton = new JoystickButton(xbox, 5);
	JoystickButton rightButton = new JoystickButton(xbox, 6);
	JoystickButton back = new JoystickButton(xbox, 7);
	JoystickButton start = new JoystickButton(xbox, 8);
	JoystickButton leftJoyXboxButton = new JoystickButton(xbox, 9);
	JoystickButton rightJoyXboxButton = new JoystickButton(xbox, 10);
	// Xbox commands

	buttonA.whenPressed(new ToggleGearManip());
	buttonX.whileHeld(new ClimberOn());
	buttonB.whileHeld(new ShooterCommandGroup());
	buttonB.whenReleased(new AugerOff());
	buttonB.whenReleased(new ShooterOff());
	buttonB.whenReleased(new ElevatorOff());
	rightButton.whenPressed(new DropManipulatorReverseMotor());

	// Joystick commands

	rightJoyTrigger.whileHeld(new RunIntake());
	leftJoyTrigger.whileHeld(new DriveStraightJoysticks());
	button2Left.toggleWhenActive(new DriveHalfSpeed());
}
 

import edu.wpi.first.wpilibj.buttons.JoystickButton; //導入方法依賴的package包/類
@SuppressWarnings("deprecation")
public OI() {
       // BEGIN AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=CONSTRUCTORS

       xBoxController = new Joystick(0);
       
       aButton = new JoystickButton(xBoxController, 1);
       bButton = new JoystickButton(xBoxController, 2);
       xButton = new JoystickButton(xBoxController, 3);
       yButton = new JoystickButton(xBoxController, 4);
       leftBumper = new JoystickButton(xBoxController, 5);
       rightBumper = new JoystickButton(xBoxController, 6);
       selectButton = new JoystickButton(xBoxController, 7);
       startButton = new JoystickButton(xBoxController, 8);
       leftJoystick = new JoystickButton(xBoxController, 9);
       rightJoystick = new JoystickButton(xBoxController, 10);
       
       //aButton.whenPressed(new ShooterSequenceOn());
       //aButton.whenReleased(new ShooterSequenceOff());
       startButton.whenPressed(new InterfaceFlip());
       yButton.whenPressed(new ExpelGear());
       bButton.whenPressed(new IngestToggle());
       xButton.whileHeld(new CloseDoors());
       aButton.whenPressed(new FeederOn());
       leftJoystick.whenPressed(new SwitchCamera());
       //startButton.whenPressed(new Climb());
       leftBumper.whileHeld(new TankDriveLeft());
       rightBumper.whileHeld(new TankDriveRight());
       //Have Motor Position Check on smart dashboard only, not controller

       //SmartDashboard.putData("Autonomous Command", new DriveForward(4.0));
 	    //SmartDashboard.putData("RelayOn", new RelayOn());
 	    //SmartDashboard.putData("AllForward", new AllForward());
 	    //SmartDashboard.putData("MotorPositionCheck", new MotorPositionCheck());
 	    SmartDashboard.putData("Shooter sequence on", new ShooterSequenceOn());
 	    SmartDashboard.putData("Shooter sequence off", new ShooterSequenceOff());
 	    SmartDashboard.putData("Agitator on", new AgitatorOn());
 	    SmartDashboard.putData("Agitator off", new AgitatorOff());
 	    SmartDashboard.putData("Shooter on", new ShooterOn());
 	    SmartDashboard.putData("Shooter off", new ShooterOff());
 	    SmartDashboard.putData("Expell gear", new ExpelGear());
 	    //SmartDashboard.putData("DriveForward", new DriveForward());
 	    //SmartDashboard.putData("Open door", new OpenDoors());
 	    //SmartDashboard.putData("Close door", new CloseDoors());
 	    //SmartDashboard.putData("Extend pusher", new ExtendPusher());
 	    //SmartDashboard.putData("Retract pusher", new RetractPusher());
 	    SmartDashboard.putData("Flip motors", new InterfaceFlip());
 	    SmartDashboard.putNumber("camerasleect", Robot.camera);
 	   // SmartDashboard.putData("Turn Right", new TurnRight(.5));
 	   // SmartDashboard.putData("Turn Left", new TurnLeft(.5));
 	    //SmartDashboard.putData("Rotate left", new Rotate(45));
 	    //SmartDashboard.putData("Rotate 45", new Rotate(-45));
 	    //SmartDashboard.putData("RotatePID Home", new RotateWithPIDTankDrive(0.0));
 	    //SmartDashboard.putData("RotatePID 60", new RotateWithPIDTankDrive(60.0));
 	    //SmartDashboard.putData("RotatePID -60 (left)", new RotateWithPIDTankDrive(-60.0));
 	    //SmartDashboard.putData("RotatePID 120", new RotateWithPIDTankDrive(120.0));
 	    //SmartDashboard.putData("RotatePID -120 (60 right?)", new RotateWithPIDTankDrive(-120.0));
 	    
       // END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=CONSTRUCTORS
       
       //SmartDashboard Data        
   }
 

import edu.wpi.first.wpilibj.buttons.JoystickButton; //導入方法依賴的package包/類
public OI() {
    // BEGIN AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=CONSTRUCTORS

    primaryJoystick = new Joystick(0);
    coJoystick = new Joystick(1);
    
    X = new JoystickButton(primaryJoystick, 1);
    CIRCLE = new JoystickButton(primaryJoystick, 2);
    SQUARE = new JoystickButton(primaryJoystick, 3);
    rBumper = new JoystickButton(primaryJoystick, 6);
    lBumper = new JoystickButton(primaryJoystick, 5);
    START = new JoystickButton(primaryJoystick, 8);
    SELECT = new JoystickButton(primaryJoystick, 7);
    
    lBumper.whenPressed(new InvertDrive());
    SQUARE.whenPressed(new StraightDrive());
    CIRCLE.whileHeld(new RunReverseIntake());
    rBumper.whileHeld(new RunIntake());
    // lBumper.whileHeld(new RunReverseIntake());
    START.whenPressed(new TrackTarget());
    SELECT.cancelWhenPressed(new TrackTarget());
    
    TRIGGER = new JoystickButton(coJoystick, 1);
    THUMB = new JoystickButton(coJoystick, 2);
    LTHUMB = new JoystickButton(coJoystick, 3);
    RTHUMB = new JoystickButton(coJoystick, 4);
    
    TRIGGER.whenPressed(new ToggleShooter());
    THUMB.whenPressed(new TrackTarget());
    LTHUMB.whenPressed(new AdjustShootSpeed(-0.025));
    RTHUMB.whenPressed(new AdjustShootSpeed(0.025));


    // SmartDashboard Buttons
    SmartDashboard.putData("Track Target", new TrackTarget());
    SmartDashboard.putData("test", new Test());
    SmartDashboard.putNumber("Gyro", Robot.driveTrain.getGyroBearing());
    SmartDashboard.putNumber("Ultrasonic", Robot.driveTrain.getUltra());
    SmartDashboard.putNumber("Goal X", Robot.getGoalX());
    SmartDashboard.putNumber("Goal Y", Robot.getGoalY());
    
}