hoops controls for diff controllers

Author: TechnototesLaptop

Hoops/src/main/java/org/firstinspires/ftc/hoops/controllers/AllinOneController.java

@@ -0,0 +1,85 @@
+package org.firstinspires.ftc.hoops.controllers;
+
+import com.technototes.library.command.CommandScheduler;
+import com.technototes.library.control.CommandAxis;
+import com.technototes.library.control.CommandButton;
+import com.technototes.library.control.CommandGamepad;
+import com.technototes.library.control.Stick;
+import org.firstinspires.ftc.hoops.Robot;
+import org.firstinspires.ftc.hoops.Setup;
+import org.firstinspires.ftc.hoops.commands.EZCmd;
+import org.firstinspires.ftc.hoops.commands.IntakeAndLaunchCommand;
+import org.firstinspires.ftc.hoops.commands.IntakeCommands;
+import org.firstinspires.ftc.hoops.commands.JoystickDriveCommand;
+import org.firstinspires.ftc.hoops.commands.LaunchCommands;
+
+public class AllinOneController {
+
+    public Robot robot;
+    public CommandGamepad gamepad;
+
+    public Stick driveLeftStick, driveRightStick;
+    public CommandButton resetGyroButton, turboButton, snailButton;
+    public CommandButton override;
+    public CommandAxis driveStraighten;
+    public CommandButton launch;
+    public CommandButton intake;
+    public CommandButton intakeandlaunch;
+
+    public AllinOneController(CommandGamepad g, Robot r) {
+        this.robot = r;
+        gamepad = g;
+
+        AssignNamedControllerButton();
+        if (Setup.Connected.DRIVEBASE) {
+            bindDriveControls();
+        }
+        if (Setup.Connected.LAUNCHER) {
+            bindLaunchControls();
+        }
+        if (Setup.Connected.INTAKE) {
+            bindIntakeControls();
+        }
+    }
+
+    private void AssignNamedControllerButton() {
+        resetGyroButton = gamepad.ps_options;
+        driveLeftStick = gamepad.leftStick;
+        driveRightStick = gamepad.rightStick;
+        driveStraighten = gamepad.rightTrigger;
+        turboButton = gamepad.leftBumper;
+        snailButton = gamepad.rightBumper;
+        launch = gamepad.ps_square;
+        intake = gamepad.ps_circle;
+        intakeandlaunch = gamepad.ps_triangle;
+    }
+
+    public void bindDriveControls() {
+        CommandScheduler.scheduleJoystick(
+            new JoystickDriveCommand(
+                robot.drivebaseSubsystem,
+                driveLeftStick,
+                driveRightStick,
+                driveStraighten
+            )
+        );
+        turboButton.whenPressed(EZCmd.Drive.TurboMode(robot.drivebaseSubsystem));
+        turboButton.whenReleased(EZCmd.Drive.NormalMode(robot.drivebaseSubsystem));
+        snailButton.whenPressed(EZCmd.Drive.SnailMode(robot.drivebaseSubsystem));
+        snailButton.whenReleased(EZCmd.Drive.NormalMode(robot.drivebaseSubsystem));
+
+        resetGyroButton.whenPressed(EZCmd.Drive.ResetGyro(robot.drivebaseSubsystem));
+    }
+
+    public void bindLaunchControls() {
+        launch.whenPressed(LaunchCommands.launchCommand(robot));
+        launch.whenReleased(LaunchCommands.stopLaunchCommand(robot));
+        intakeandlaunch.whenPressed(IntakeAndLaunchCommand.IntakeAndLaunch(robot));
+        intakeandlaunch.whenReleased(IntakeAndLaunchCommand.IntakeAndLaunchStop(robot));
+    }
+
+    public void bindIntakeControls() {
+        intake.whenPressed(IntakeCommands.intakeCommand(robot));
+        intake.whenReleased(IntakeCommands.stopIntakeCommand(robot));
+    }
+}

Hoops/src/main/java/org/firstinspires/ftc/hoops/controllers/TwoControllers.java

@@ -0,0 +1,44 @@
+package org.firstinspires.ftc.hoops.controllers;
+
+import com.acmerobotics.dashboard.FtcDashboard;
+import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
+import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
+import com.technototes.library.command.CommandScheduler;
+import com.technototes.library.structure.CommandOpMode;
+import com.technototes.library.util.Alliance;
+import org.firstinspires.ftc.hoops.Hardware;
+import org.firstinspires.ftc.hoops.Robot;
+import org.firstinspires.ftc.hoops.Setup;
+import org.firstinspires.ftc.hoops.commands.EZCmd;
+
+@TeleOp(name = "Driving w/Turbo!")
+@SuppressWarnings("unused")
+public class TwoControllers extends CommandOpMode {
+
+    public Robot robot;
+    public org.firstinspires.ftc.hoops.controllers.DriverController controlsDriver;
+    public org.firstinspires.ftc.hoops.controllers.OperatorController controlsOperator;
+    public Hardware hardware;
+
+    @Override
+    public void uponInit() {
+        telemetry = new MultipleTelemetry(telemetry, FtcDashboard.getInstance().getTelemetry());
+        hardware = new Hardware(hardwareMap);
+        robot = new Robot(hardware);
+        controlsOperator = new org.firstinspires.ftc.hoops.controllers.OperatorController(
+            codriverGamepad,
+            robot
+        );
+        if (Setup.Connected.DRIVEBASE) {
+            controlsDriver = new org.firstinspires.ftc.hoops.controllers.DriverController(
+                driverGamepad,
+                robot
+            );
+
+            CommandScheduler.scheduleForState(
+                EZCmd.Drive.ResetGyro(robot.drivebaseSubsystem),
+                OpModeState.INIT
+            );
+        }
+    }
+}

Hoops/src/main/java/org/firstinspires/ftc/hoops/opmodes/tele/LaunchTest.java

@@ -7,6 +7,7 @@
 import com.technototes.library.structure.CommandOpMode;
 import org.firstinspires.ftc.hoops.Hardware;
 import org.firstinspires.ftc.hoops.Robot;
+import org.firstinspires.ftc.hoops.controllers.AllinOneController;
 import org.firstinspires.ftc.hoops.controllers.DriverController;
 import org.firstinspires.ftc.hoops.controllers.OperatorController;
 
@@ -17,13 +18,13 @@ public class LaunchTest extends CommandOpMode implements Loggable {
     public Hardware hardware;
     public Robot robot;
 
-    public OperatorController operator;
+    public AllinOneController operator;
 
     @Override
     public void uponInit() {
         telemetry = new MultipleTelemetry(telemetry, FtcDashboard.getInstance().getTelemetry());
         hardware = new Hardware(hardwareMap);
         robot = new Robot(hardware);
-        operator = new OperatorController(driverGamepad, robot);
+        operator = new AllinOneController(driverGamepad, robot);
     }
 }