Wire operator console to PID hatch commands.

Add three vertical buttons from the operator console.

Connect two buttons to Grab and Ready commands.

Reuse LowerHatch command for third button.  It disables the pid and
controls the hatch motor while the button is pressed, which covers all
the bases for the third button, no need for an extra command.

STATUS: Builds.

- Justin C

Author: PhyXTGears-1720

src/main/cpp/Robot.cpp

@@ -265,6 +265,22 @@ void Robot::CompetitionJoystickInput() {
         m_Bling.SetBling(m_Bling.HatchPattern);
     }
 
+    if (console.GetHatchTopPositionPressed()) {
+        std::cout << "Comp Joy Input: Console: Hatch Top Position Pressed" << std::endl;
+        m_GrabHatchFromLoadingStation->Start();
+        m_Bling.SetBling(m_Bling.HatchPattern);
+    } else if (console.GetHatchMidPositionPressed()) {
+        std::cout << "Comp Joy Input: Console: Hatch Mid Position Pressed" << std::endl;
+        m_ReadyHatch->Start();
+        m_Bling.SetBling(m_Bling.HatchPattern);
+    } else if (console.GetHatchLowerPressed()) {
+        std::cout << "Comp Joy Input: Console: Hatch Lower Pressed" << std::endl;
+        m_LowerHatch
+          ->Until([]() { return Robot::m_OI.GetOperatorConsole().GetHatchLowerReleased(); })
+          ->Start();
+        m_Bling.SetBling(m_Bling.HatchPattern);
+    }
+
     if (console.GetCargoShootRocketTwoPressed()) {
         std::cout << "Comp Joy Input: Console: Rocket Shot (Level 2)" << std::endl;
         m_ShootCargoForLevelTwoRocket->Start();

src/main/include/OperatorHID.h

@@ -30,6 +30,11 @@
 #define bCreeperCrawlForward  7
 #define bCreeperCrawlBackward 8
 
+// Hatch Buttons (PID) board 2
+#define bHatchTopPosition     10
+#define bHatchMidPosition      9
+#define bHatchLowPosition      8
+
 // A combo class that encapsules our button board and flight stick.
 // This is only for our robot operator to use.
 class OperatorHID {
@@ -44,6 +49,15 @@ class OperatorHID {
         bool GetHatchGrabReleased()    { return m_Board2.GetButtonReleased(bHatchGrabberUp); }
         bool GetHatchReleasePressed()  { return m_Board2.GetButtonPressed(bHatchGrabberDown); }
         bool GetHatchReleaseReleased() { return m_Board2.GetButtonReleased(bHatchGrabberDown); }
+
+        bool GetHatchTopPositionPressed()   { return m_Board2.GetButtonPressed(bHatchTopPosition); }
+        bool GetHatchTopPositionReleased()  { return m_Board2.GetButtonReleased(bHatchTopPosition); }
+
+        bool GetHatchMidPositionPressed()   { return m_Board2.GetButtonPressed(bHatchMidPosition); }
+        bool GetHatchMidPositionReleased()  { return m_Board2.GetButtonReleased(bHatchMidPosition); }
+
+        bool GetHatchLowerPressed()         { return m_Board2.GetButtonPressed(bHatchLowPosition); }
+        bool GetHatchLowerReleased()        { return m_Board2.GetButtonReleased(bHatchLowPosition); }
 
         bool GetCargoIntakeCargoPressed()    { return m_Board2.GetButtonPressed(bCargoIntakeCargo); }
         bool GetCargoShootRocketOnePressed() { return m_Board2.GetButtonPressed(bCargoShootRocketOne); }