integrated xboxraw

src/main/java/frc4388/utility/controller/IHandController.java

@@ -18,4 +18,6 @@ public interface IHandController {
   public double getRightTriggerAxis();
 
   public int getDpadAngle();
+
+  public void updateInput();
 }

src/main/java/frc4388/utility/controller/XboxController.java

@@ -53,6 +53,8 @@ public class XboxController implements IHandController
 
   private Joystick m_stick;
 
+  public void updateInput() {}
+
   public static double[] ClampJoystickAxis(double x, double y) {
     double square_mag = x * x + y * y;
     double[] ret = {x,y};

src/main/java/frc4388/utility/controller/XboxControllerRaw.java

@@ -25,15 +25,22 @@ public class XboxControllerRaw implements IHandController {
     public static final int LEFT_JOYSTICK_BUTTON = 8;
     public static final int RIGHT_JOYSTICK_BUTTON = 9;
     
-    private static final double DEADZONE = 0.1;
+    private static final double DEADZONE = 0.08;
 
+  private int m_ID;
   private int m_buttons = 0;
   private int m_numButtons;
   private ByteBuffer m_buttonCountBuffer = ByteBuffer.allocateDirect(1);
   float[] m_axes = new float[HAL.kMaxJoystickAxes];
+
+  public XboxControllerRaw(int id) {
+    m_ID = id;
+  }
+
+
   public void updateInput() {
-    HAL.getJoystickAxes((byte) 0, m_axes);    
-    m_buttons = HAL.getJoystickButtons((byte) 0, m_buttonCountBuffer);
+    HAL.getJoystickAxes((byte) m_ID, m_axes);
+    m_buttons = HAL.getJoystickButtons((byte) m_ID, m_buttonCountBuffer);
     m_numButtons = m_buttonCountBuffer.get(0);
   }
 

src/main/java/frc4388/utility/controller/XboxControllerRawButton.java

@@ -0,0 +1,18 @@
+package frc4388.utility.controller;
+
+import edu.wpi.first.wpilibj2.command.button.Button;
+
+public class XboxControllerRawButton extends Button {
+    private final XboxControllerRaw m_controller;
+    private final int m_buttonNumber;
+
+    public XboxControllerRawButton(XboxControllerRaw controller, int buttonNumber) {
+        m_controller = controller;
+        m_buttonNumber = buttonNumber;
+    }
+
+    @Override
+    public boolean get() {
+        return m_controller.getButton(m_buttonNumber);
+    }
+}