mirror of
https://github.com/Team4388/2022NoWayHome.git
synced 2026-06-09 08:48:07 -06:00
Upgrade to 2022
* Update license * Remove arcade drive * Correct indentation * Disable RobotGyro (new gyro is untested)
This commit is contained in:
nathanrsxtn
@@ -6,55 +6,55 @@ package frc4388.utility;
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/** Add your docs here. */
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public class Gains {
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public double m_kP;
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public double m_kI;
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public double m_kD;
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public double m_kF;
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public int m_kIzone;
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public double m_kPeakOutput;
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public double m_kmaxOutput;
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public double m_kminOutput;
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public double m_kP;
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public double m_kI;
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public double m_kD;
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public double m_kF;
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public int m_kIzone;
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public double m_kPeakOutput;
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public double m_kmaxOutput;
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public double m_kminOutput;
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/**
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* Creates Gains object for PIDs
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* @param kP The P value.
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* @param kI The I value.
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* @param kD The D value.
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* @param kF The F value.
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* @param kIzone The zone of the I value.
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* @param kPeakOutput The peak output setting the motors to run the gains at, in both forward and reverse directions. By default 1.0.
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*/
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public Gains(double kP, double kI, double kD, double kF, int kIzone, double kPeakOutput)
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{
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m_kP = kP;
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m_kI = kI;
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m_kD = kD;
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m_kF = kF;
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m_kIzone = kIzone;
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m_kPeakOutput = kPeakOutput;
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m_kmaxOutput = m_kPeakOutput;
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m_kminOutput = -m_kPeakOutput;
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}
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/**
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* Creates Gains object for PIDs
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* @param kP The P value.
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* @param kI The I value.
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* @param kD The D value.
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* @param kF The F value.
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* @param kIzone The zone of the I value.
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* @param kPeakOutput The peak output setting the motors to run the gains at, in both forward and reverse directions. By default 1.0.
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*/
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public Gains(double kP, double kI, double kD, double kF, int kIzone, double kPeakOutput)
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{
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m_kP = kP;
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m_kI = kI;
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m_kD = kD;
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m_kF = kF;
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m_kIzone = kIzone;
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m_kPeakOutput = kPeakOutput;
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m_kmaxOutput = m_kPeakOutput;
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m_kminOutput = -m_kPeakOutput;
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}
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/**
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* Creates Gains object for PIDs
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* @param kP The P value.
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* @param kI The I value.
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* @param kD The D value.
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* @param kF The F value.
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* @param kIzone The zone of the I value.
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* @param kMinOutput The lowest output setting to run the gains at, usually in the reverse direction. By default -1.0.
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* @param kMaxOutput The highest output setting to run the gains at, usually in the forward direction. By default 1.0.
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*/
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public Gains(double kP, double kI, double kD, double kF, int kIzone, double kMinOutput, double kMaxOutput)
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{
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m_kP = kP;
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m_kI = kI;
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m_kD = kD;
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m_kF = kF;
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m_kIzone = kIzone;
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m_kminOutput = kMinOutput;
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m_kmaxOutput = kMaxOutput;
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m_kPeakOutput = (Math.abs(m_kminOutput) > Math.abs(m_kmaxOutput)) ? Math.abs(m_kminOutput) : Math.abs(m_kmaxOutput);
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}
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/**
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* Creates Gains object for PIDs
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* @param kP The P value.
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* @param kI The I value.
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* @param kD The D value.
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* @param kF The F value.
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* @param kIzone The zone of the I value.
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* @param kMinOutput The lowest output setting to run the gains at, usually in the reverse direction. By default -1.0.
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* @param kMaxOutput The highest output setting to run the gains at, usually in the forward direction. By default 1.0.
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*/
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public Gains(double kP, double kI, double kD, double kF, int kIzone, double kMinOutput, double kMaxOutput)
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{
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m_kP = kP;
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m_kI = kI;
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m_kD = kD;
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m_kF = kF;
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m_kIzone = kIzone;
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m_kminOutput = kMinOutput;
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m_kmaxOutput = kMaxOutput;
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m_kPeakOutput = (Math.abs(m_kminOutput) > Math.abs(m_kmaxOutput)) ? Math.abs(m_kminOutput) : Math.abs(m_kmaxOutput);
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}
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}
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@@ -1,180 +0,0 @@
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/*----------------------------------------------------------------------------*/
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/* Copyright (c) 2018-2019 FIRST. All Rights Reserved. */
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/* Open Source Software - may be modified and shared by FRC teams. The code */
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/* must be accompanied by the FIRST BSD license file in the root directory of */
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/* the project. */
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/*----------------------------------------------------------------------------*/
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package frc4388.utility;
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import com.ctre.phoenix.sensors.PigeonIMU;
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import com.ctre.phoenix.sensors.PigeonIMU.CalibrationMode;
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import com.kauailabs.navx.frc.AHRS;
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import edu.wpi.first.wpilibj.GyroBase;
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import edu.wpi.first.wpiutil.math.MathUtil;
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/**
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* Gyro class that allows for interchangeable use between a pigeon and a navX
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*/
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public class RobotGyro extends GyroBase {
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private RobotTime m_robotTime = RobotTime.getInstance();
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private PigeonIMU m_pigeon = null;
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private AHRS m_navX = null;
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public boolean m_isGyroAPigeon; //true if pigeon, false if navX
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private double m_lastPigeonAngle;
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private double m_deltaPigeonAngle;
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/**
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* Creates a Gyro based on a pigeon
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* @param gyro the gyroscope to use for Gyro
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*/
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public RobotGyro(PigeonIMU gyro) {
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m_pigeon = gyro;
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m_isGyroAPigeon = true;
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}
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/**
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* Creates a Gyro based on a navX
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* @param gyro the gyroscope to use for Gyro
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*/
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public RobotGyro(AHRS gyro){
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m_navX = gyro;
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m_isGyroAPigeon = false;
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}
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/**
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* Run in periodic if you are using a pigeon. Updates a delta angle so that it can calculate getRate(). Note
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* that the getRate() method for a navX will likely be much more accurate than for a pigeon.
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*/
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public void updatePigeonDeltas() {
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double currentPigeonAngle = getAngle();
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m_deltaPigeonAngle = currentPigeonAngle - m_lastPigeonAngle;
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m_lastPigeonAngle = currentPigeonAngle;
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}
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/**
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* <p>NavX:
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* <p>Calibrate the gyro by running for a number of samples and computing the center value. Then use
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* the center value as the Accumulator center value for subsequent measurements. It's important to
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* make sure that the robot is not moving while the centering calculations are in progress, this
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* is typically done when the robot is first turned on while it's sitting at rest before the
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* competition starts.
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*
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* <p>Pigeon:
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* <p>Calibrate the gyro by collecting data at a range of tempuratures. Allow pigeon to cool, then boot
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* into calibration mode. For faster calibration, use a heat lamp to heat up the pigeon. Once the pigeon
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* has seen a reasonable range of tempuratures, it will exit calibration mode. It's important to
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* make sure that the robot is not moving while the tempurature calculations are in progress, this
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* is typically done when the robot is first turned on while it's sitting at rest before the
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* competition starts.
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*/
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@Override
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public void calibrate() {
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if (m_isGyroAPigeon) {
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m_pigeon.enterCalibrationMode(CalibrationMode.Temperature);
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} else {
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m_navX.calibrate();
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}
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}
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@Override
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public void reset() {
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if (m_isGyroAPigeon) {
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m_pigeon.setYaw(0);
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} else {
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m_navX.reset();
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}
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}
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/**
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* Get Yaw, Pitch, and Roll data.
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*
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* @return ypr_deg Array with yaw[0], pitch[1], and roll[2] data.
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* Yaw is within [-368,640, +368,640] degrees.
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* Pitch is within [-90,+90] degrees.
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* Roll is within [-90,+90] degrees.
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*/
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private double[] getPigeonAngles() {
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double[] angles = new double[3];
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m_pigeon.getYawPitchRoll(angles);
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return angles;
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}
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@Override
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public double getAngle() {
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if (m_isGyroAPigeon) {
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return getPigeonAngles()[0];
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} else {
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return m_navX.getAngle();
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}
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}
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/**
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* Gets an absolute heading of the robot
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* @return heading from -180 to 180 degrees
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*/
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public double getHeading() {
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return getHeading(getAngle());
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}
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/**
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* Gets an absolute heading of the robot
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* @return heading from -180 to 180 degrees
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*/
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public double getHeading(double angle) {
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return Math.IEEEremainder(angle, 360);
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}
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/**
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* Returns the current pitch value (in degrees, from -90 to 90)
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* reported by the sensor. Pitch is a measure of rotation around
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* the Y Axis.
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* @return The current pitch value in degrees (-90 to 90).
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*/
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public double getPitch() {
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if (m_isGyroAPigeon) {
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return MathUtil.clamp(getPigeonAngles()[1], -90, 90);
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} else {
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return MathUtil.clamp(m_navX.getPitch(), -90, 90);
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}
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}
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/**
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* Returns the current roll value (in degrees, from -90 to 90)
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* reported by the sensor. Roll is a measure of rotation around
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* the X Axis.
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* @return The current roll value in degrees (-90 to 90).
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*/
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public double getRoll() {
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if (m_isGyroAPigeon) {
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return MathUtil.clamp(getPigeonAngles()[2], -90, 90);
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} else {
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return MathUtil.clamp(m_navX.getRoll(), -90, 90);
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}
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}
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@Override
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public double getRate() {
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if (m_isGyroAPigeon) {
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return m_deltaPigeonAngle / m_robotTime.m_deltaTime * 1000;
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} else {
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return m_navX.getRate();
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}
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}
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public PigeonIMU getPigeon(){
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return m_pigeon;
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}
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public AHRS getNavX(){
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return m_navX;
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}
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@Override
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public void close() throws Exception {
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}
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}
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@@ -0,0 +1,245 @@
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// Copyright (c) FIRST and other WPILib contributors.
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// Open Source Software; you can modify and/or share it under the terms of
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// the WPILib BSD license file in the root directory of this project.
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package frc4388.utility;
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import com.ctre.phoenix.sensors.PigeonIMU;
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import com.ctre.phoenix.sensors.PigeonIMU.CalibrationMode;
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import com.kauailabs.navx.frc.AHRS;
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import edu.wpi.first.math.MathUtil;
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import edu.wpi.first.util.sendable.Sendable;
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import edu.wpi.first.util.sendable.SendableBuilder;
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import edu.wpi.first.wpilibj.PIDSource;
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import edu.wpi.first.wpilibj.PIDSourceType;
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import edu.wpi.first.wpilibj.interfaces.Gyro;
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/**
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* Gyro class that allows for interchangeable use between a pigeon and a navX
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*/
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public class RobotGyro implements Gyro, PIDSource, Sendable {
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private RobotTime m_robotTime = RobotTime.getInstance();
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private PigeonIMU m_pigeon = null;
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private AHRS m_navX = null;
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public boolean m_isGyroAPigeon; // true if pigeon, false if navX
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private double m_lastPigeonAngle;
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private double m_deltaPigeonAngle;
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/**
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* Creates a Gyro based on a pigeon
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*
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* @param gyro the gyroscope to use for Gyro
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*/
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public RobotGyro(PigeonIMU gyro) {
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m_pigeon = gyro;
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m_isGyroAPigeon = true;
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}
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/**
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* Creates a Gyro based on a navX
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*
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* @param gyro the gyroscope to use for Gyro
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*/
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public RobotGyro(AHRS gyro) {
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m_navX = gyro;
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m_isGyroAPigeon = false;
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}
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/**
|
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* Run in periodic if you are using a pigeon. Updates a delta angle so that it
|
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* can calculate getRate(). Note
|
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* that the getRate() method for a navX will likely be much more accurate than
|
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* for a pigeon.
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*/
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public void updatePigeonDeltas() {
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double currentPigeonAngle = getAngle();
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m_deltaPigeonAngle = currentPigeonAngle - m_lastPigeonAngle;
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m_lastPigeonAngle = currentPigeonAngle;
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}
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/**
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* <p>
|
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* NavX:
|
||||
* <p>
|
||||
* Calibrate the gyro by running for a number of samples and computing the
|
||||
* center value. Then use
|
||||
* the center value as the Accumulator center value for subsequent measurements.
|
||||
* It's important to
|
||||
* make sure that the robot is not moving while the centering calculations are
|
||||
* in progress, this
|
||||
* is typically done when the robot is first turned on while it's sitting at
|
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* rest before the
|
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* competition starts.
|
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*
|
||||
* <p>
|
||||
* Pigeon:
|
||||
* <p>
|
||||
* Calibrate the gyro by collecting data at a range of tempuratures. Allow
|
||||
* pigeon to cool, then boot
|
||||
* into calibration mode. For faster calibration, use a heat lamp to heat up the
|
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* pigeon. Once the pigeon
|
||||
* has seen a reasonable range of tempuratures, it will exit calibration mode.
|
||||
* It's important to
|
||||
* make sure that the robot is not moving while the tempurature calculations are
|
||||
* in progress, this
|
||||
* is typically done when the robot is first turned on while it's sitting at
|
||||
* rest before the
|
||||
* competition starts.
|
||||
*/
|
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@Override
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public void calibrate() {
|
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if (m_isGyroAPigeon)
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m_pigeon.enterCalibrationMode(CalibrationMode.Temperature);
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||||
else
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m_navX.calibrate();
|
||||
}
|
||||
|
||||
@Override
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public void reset() {
|
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if (m_isGyroAPigeon)
|
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m_pigeon.setYaw(0);
|
||||
else
|
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m_navX.reset();
|
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}
|
||||
|
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/**
|
||||
* Get Yaw, Pitch, and Roll data.
|
||||
*
|
||||
* @return ypr_deg Array with yaw[0], pitch[1], and roll[2] data.
|
||||
* Yaw is within [-368,640, +368,640] degrees.
|
||||
* Pitch is within [-90,+90] degrees.
|
||||
* Roll is within [-90,+90] degrees.
|
||||
*/
|
||||
private double[] getPigeonAngles() {
|
||||
double[] angles = new double[3];
|
||||
m_pigeon.getYawPitchRoll(angles);
|
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return angles;
|
||||
}
|
||||
|
||||
@Override
|
||||
public double getAngle() {
|
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if (m_isGyroAPigeon) {
|
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return getPigeonAngles()[0];
|
||||
} else {
|
||||
return m_navX.getAngle();
|
||||
}
|
||||
}
|
||||
|
||||
/**
|
||||
* Gets an absolute heading of the robot
|
||||
*
|
||||
* @return heading from -180 to 180 degrees
|
||||
*/
|
||||
public double getHeading() {
|
||||
return getHeading(getAngle());
|
||||
}
|
||||
|
||||
/**
|
||||
* Gets an absolute heading of the robot
|
||||
*
|
||||
* @return heading from -180 to 180 degrees
|
||||
*/
|
||||
public double getHeading(double angle) {
|
||||
return Math.IEEEremainder(angle, 360);
|
||||
}
|
||||
|
||||
/**
|
||||
* Returns the current pitch value (in degrees, from -90 to 90)
|
||||
* reported by the sensor. Pitch is a measure of rotation around
|
||||
* the Y Axis.
|
||||
*
|
||||
* @return The current pitch value in degrees (-90 to 90).
|
||||
*/
|
||||
public double getPitch() {
|
||||
if (m_isGyroAPigeon) {
|
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return MathUtil.clamp(getPigeonAngles()[1], -90, 90);
|
||||
} else {
|
||||
return MathUtil.clamp(m_navX.getPitch(), -90, 90);
|
||||
}
|
||||
}
|
||||
|
||||
/**
|
||||
* Returns the current roll value (in degrees, from -90 to 90)
|
||||
* reported by the sensor. Roll is a measure of rotation around
|
||||
* the X Axis.
|
||||
*
|
||||
* @return The current roll value in degrees (-90 to 90).
|
||||
*/
|
||||
public double getRoll() {
|
||||
if (m_isGyroAPigeon) {
|
||||
return MathUtil.clamp(getPigeonAngles()[2], -90, 90);
|
||||
} else {
|
||||
return MathUtil.clamp(m_navX.getRoll(), -90, 90);
|
||||
}
|
||||
}
|
||||
|
||||
@Override
|
||||
public double getRate() {
|
||||
if (m_isGyroAPigeon) {
|
||||
return m_deltaPigeonAngle / m_robotTime.m_deltaTime * 1000;
|
||||
} else {
|
||||
return m_navX.getRate();
|
||||
}
|
||||
}
|
||||
|
||||
public PigeonIMU getPigeon() {
|
||||
return m_pigeon;
|
||||
}
|
||||
|
||||
public AHRS getNavX() {
|
||||
return m_navX;
|
||||
}
|
||||
|
||||
@Override
|
||||
public void close() throws Exception {
|
||||
|
||||
}
|
||||
|
||||
// Begin old GyroBase class
|
||||
private PIDSourceType m_pidSource = PIDSourceType.kDisplacement;
|
||||
|
||||
/**
|
||||
* Set which parameter of the gyro you are using as a process control variable.
|
||||
* The Gyro class
|
||||
* supports the rate and displacement parameters
|
||||
*
|
||||
* @param pidSource An enum to select the parameter.
|
||||
*/
|
||||
@Override
|
||||
public void setPIDSourceType(PIDSourceType pidSource) {
|
||||
m_pidSource = pidSource;
|
||||
}
|
||||
|
||||
@Override
|
||||
public PIDSourceType getPIDSourceType() {
|
||||
return m_pidSource;
|
||||
}
|
||||
|
||||
/**
|
||||
* Get the output of the gyro for use with PIDControllers. May be the angle or
|
||||
* rate depending on
|
||||
* the set PIDSourceType
|
||||
*
|
||||
* @return the output according to the gyro
|
||||
*/
|
||||
@Override
|
||||
public double pidGet() {
|
||||
switch (m_pidSource) {
|
||||
case kRate:
|
||||
return getRate();
|
||||
case kDisplacement:
|
||||
return getAngle();
|
||||
default:
|
||||
return 0.0;
|
||||
}
|
||||
}
|
||||
|
||||
@Override
|
||||
public void initSendable(SendableBuilder builder) {
|
||||
builder.setSmartDashboardType("Gyro");
|
||||
builder.addDoubleProperty("Value", this::getAngle, null);
|
||||
}
|
||||
}
|
||||
@@ -1,9 +1,6 @@
|
||||
/*----------------------------------------------------------------------------*/
|
||||
/* Copyright (c) 2018-2019 FIRST. All Rights Reserved. */
|
||||
/* Open Source Software - may be modified and shared by FRC teams. The code */
|
||||
/* must be accompanied by the FIRST BSD license file in the root directory of */
|
||||
/* the project. */
|
||||
/*----------------------------------------------------------------------------*/
|
||||
// Copyright (c) FIRST and other WPILib contributors.
|
||||
// Open Source Software; you can modify and/or share it under the terms of
|
||||
// the WPILib BSD license file in the root directory of this project.
|
||||
|
||||
package frc4388.utility;
|
||||
|
||||
@@ -12,68 +9,68 @@ package frc4388.utility;
|
||||
* <p>All times are in milliseconds
|
||||
*/
|
||||
public class RobotTime {
|
||||
private long m_currTime = System.currentTimeMillis();
|
||||
public long m_deltaTime = 0;
|
||||
private long m_currTime = System.currentTimeMillis();
|
||||
public long m_deltaTime = 0;
|
||||
|
||||
private long m_startRobotTime = m_currTime;
|
||||
public long m_robotTime = 0;
|
||||
public long m_lastRobotTime = 0;
|
||||
private long m_startRobotTime = m_currTime;
|
||||
public long m_robotTime = 0;
|
||||
public long m_lastRobotTime = 0;
|
||||
|
||||
private long m_startMatchTime = 0;
|
||||
public long m_matchTime = 0;
|
||||
public long m_lastMatchTime = 0;
|
||||
private long m_startMatchTime = 0;
|
||||
public long m_matchTime = 0;
|
||||
public long m_lastMatchTime = 0;
|
||||
|
||||
public long m_frameNumber = 0;
|
||||
public long m_frameNumber = 0;
|
||||
|
||||
/**
|
||||
* Private constructor prevents other classes from instantiating
|
||||
*/
|
||||
private RobotTime(){}
|
||||
/**
|
||||
* Private constructor prevents other classes from instantiating
|
||||
*/
|
||||
private RobotTime(){}
|
||||
|
||||
private static RobotTime instance = null;
|
||||
private static RobotTime instance = null;
|
||||
|
||||
/**
|
||||
* Gets the instance of Robot Time. If there is no instance running one will be created.
|
||||
* @return instance of Robot Time
|
||||
*/
|
||||
public static RobotTime getInstance() {
|
||||
if (instance == null) {
|
||||
instance = new RobotTime();
|
||||
}
|
||||
return instance;
|
||||
/**
|
||||
* Gets the instance of Robot Time. If there is no instance running one will be created.
|
||||
* @return instance of Robot Time
|
||||
*/
|
||||
public static RobotTime getInstance() {
|
||||
if (instance == null) {
|
||||
instance = new RobotTime();
|
||||
}
|
||||
return instance;
|
||||
}
|
||||
|
||||
/**
|
||||
* Call this once per periodic loop.
|
||||
*/
|
||||
public void updateTimes() {
|
||||
m_lastRobotTime = m_robotTime;
|
||||
m_lastMatchTime = m_matchTime;
|
||||
/**
|
||||
* Call this once per periodic loop.
|
||||
*/
|
||||
public void updateTimes() {
|
||||
m_lastRobotTime = m_robotTime;
|
||||
m_lastMatchTime = m_matchTime;
|
||||
|
||||
m_currTime = System.currentTimeMillis();
|
||||
m_robotTime = m_currTime - m_startRobotTime;
|
||||
m_deltaTime = m_robotTime - m_lastRobotTime;
|
||||
m_frameNumber++;
|
||||
m_currTime = System.currentTimeMillis();
|
||||
m_robotTime = m_currTime - m_startRobotTime;
|
||||
m_deltaTime = m_robotTime - m_lastRobotTime;
|
||||
m_frameNumber++;
|
||||
|
||||
if (m_startMatchTime != 0) {
|
||||
m_matchTime = m_currTime - m_startMatchTime;
|
||||
}
|
||||
if (m_startMatchTime != 0) {
|
||||
m_matchTime = m_currTime - m_startMatchTime;
|
||||
}
|
||||
}
|
||||
|
||||
/**
|
||||
* Call this in both the auto and periodic inits
|
||||
*/
|
||||
public void startMatchTime() {
|
||||
if (m_startMatchTime == 0) {
|
||||
m_startMatchTime = m_currTime;
|
||||
}
|
||||
/**
|
||||
* Call this in both the auto and periodic inits
|
||||
*/
|
||||
public void startMatchTime() {
|
||||
if (m_startMatchTime == 0) {
|
||||
m_startMatchTime = m_currTime;
|
||||
}
|
||||
}
|
||||
|
||||
/**
|
||||
* Call this in disabled init
|
||||
*/
|
||||
public void endMatchTime() {
|
||||
m_startMatchTime = 0;
|
||||
m_matchTime = 0;
|
||||
}
|
||||
/**
|
||||
* Call this in disabled init
|
||||
*/
|
||||
public void endMatchTime() {
|
||||
m_startMatchTime = 0;
|
||||
m_matchTime = 0;
|
||||
}
|
||||
}
|
||||
|
||||
@@ -5,17 +5,17 @@ package frc4388.utility.controller;
|
||||
*/
|
||||
public interface IHandController {
|
||||
|
||||
public double getLeftXAxis();
|
||||
public double getLeftXAxis();
|
||||
|
||||
public double getLeftYAxis();
|
||||
public double getLeftYAxis();
|
||||
|
||||
public double getRightXAxis();
|
||||
|
||||
public double getRightYAxis();
|
||||
public double getRightXAxis();
|
||||
|
||||
public double getLeftTriggerAxis();
|
||||
public double getRightYAxis();
|
||||
|
||||
public double getRightTriggerAxis();
|
||||
public double getLeftTriggerAxis();
|
||||
|
||||
public int getDpadAngle();
|
||||
public double getRightTriggerAxis();
|
||||
|
||||
public int getDpadAngle();
|
||||
}
|
||||
|
||||
@@ -9,210 +9,210 @@ import edu.wpi.first.wpilibj.Joystick;
|
||||
*/
|
||||
public class XboxController implements IHandController
|
||||
{
|
||||
public static final int LEFT_X_AXIS = 0;
|
||||
public static final int LEFT_Y_AXIS = 1;
|
||||
public static final int LEFT_TRIGGER_AXIS = 2;
|
||||
public static final int RIGHT_TRIGGER_AXIS = 3;
|
||||
public static final int RIGHT_X_AXIS = 4;
|
||||
public static final int RIGHT_Y_AXIS = 5;
|
||||
public static final int LEFT_RIGHT_DPAD_AXIS = 6;
|
||||
public static final int TOP_BOTTOM_DPAD_AXIS = 6;
|
||||
public static final int LEFT_X_AXIS = 0;
|
||||
public static final int LEFT_Y_AXIS = 1;
|
||||
public static final int LEFT_TRIGGER_AXIS = 2;
|
||||
public static final int RIGHT_TRIGGER_AXIS = 3;
|
||||
public static final int RIGHT_X_AXIS = 4;
|
||||
public static final int RIGHT_Y_AXIS = 5;
|
||||
public static final int LEFT_RIGHT_DPAD_AXIS = 6;
|
||||
public static final int TOP_BOTTOM_DPAD_AXIS = 6;
|
||||
|
||||
public static final int A_BUTTON = 1;
|
||||
public static final int B_BUTTON = 2;
|
||||
public static final int X_BUTTON = 3;
|
||||
public static final int Y_BUTTON = 4;
|
||||
public static final int LEFT_BUMPER_BUTTON = 5;
|
||||
public static final int RIGHT_BUMPER_BUTTON = 6;
|
||||
public static final int BACK_BUTTON = 7;
|
||||
public static final int START_BUTTON = 8;
|
||||
public static final int A_BUTTON = 1;
|
||||
public static final int B_BUTTON = 2;
|
||||
public static final int X_BUTTON = 3;
|
||||
public static final int Y_BUTTON = 4;
|
||||
public static final int LEFT_BUMPER_BUTTON = 5;
|
||||
public static final int RIGHT_BUMPER_BUTTON = 6;
|
||||
public static final int BACK_BUTTON = 7;
|
||||
public static final int START_BUTTON = 8;
|
||||
|
||||
public static final int LEFT_JOYSTICK_BUTTON = 9;
|
||||
public static final int RIGHT_JOYSTICK_BUTTON = 10;
|
||||
public static final int LEFT_JOYSTICK_BUTTON = 9;
|
||||
public static final int RIGHT_JOYSTICK_BUTTON = 10;
|
||||
|
||||
private static final double LEFT_DPAD_TOLERANCE = -0.9;
|
||||
private static final double RIGHT_DPAD_TOLERANCE = 0.9;
|
||||
private static final double BOTTOM_DPAD_TOLERANCE = -0.9;
|
||||
private static final double TOP_DPAD_TOLERANCE = 0.9;
|
||||
private static final double LEFT_DPAD_TOLERANCE = -0.9;
|
||||
private static final double RIGHT_DPAD_TOLERANCE = 0.9;
|
||||
private static final double BOTTOM_DPAD_TOLERANCE = -0.9;
|
||||
private static final double TOP_DPAD_TOLERANCE = 0.9;
|
||||
|
||||
private static final double LEFT_TRIGGER_TOLERANCE = 0.5;
|
||||
private static final double RIGHT_TRIGGER_TOLERANCE = 0.5;
|
||||
private static final double LEFT_TRIGGER_TOLERANCE = 0.5;
|
||||
private static final double RIGHT_TRIGGER_TOLERANCE = 0.5;
|
||||
|
||||
private static final double RIGHT_AXIS_UP_TOLERANCE = -0.9;
|
||||
private static final double RIGHT_AXIS_DOWN_TOLERANCE = 0.9;
|
||||
private static final double RIGHT_AXIS_RIGHT_TOLERANCE = 0.9;
|
||||
private static final double RIGHT_AXIS_LEFT_TOLERANCE = -0.9;
|
||||
private static final double RIGHT_AXIS_UP_TOLERANCE = -0.9;
|
||||
private static final double RIGHT_AXIS_DOWN_TOLERANCE = 0.9;
|
||||
private static final double RIGHT_AXIS_RIGHT_TOLERANCE = 0.9;
|
||||
private static final double RIGHT_AXIS_LEFT_TOLERANCE = -0.9;
|
||||
|
||||
private static final double LEFT_AXIS_UP_TOLERANCE = -0.9;
|
||||
private static final double LEFT_AXIS_DOWN_TOLERANCE = 0.9;
|
||||
private static final double LEFT_AXIS_RIGHT_TOLERANCE = 0.9;
|
||||
private static final double LEFT_AXIS_LEFT_TOLERANCE = -0.9;
|
||||
private static final double LEFT_AXIS_UP_TOLERANCE = -0.9;
|
||||
private static final double LEFT_AXIS_DOWN_TOLERANCE = 0.9;
|
||||
private static final double LEFT_AXIS_RIGHT_TOLERANCE = 0.9;
|
||||
private static final double LEFT_AXIS_LEFT_TOLERANCE = -0.9;
|
||||
|
||||
private static final double DEADZONE = 0.1;
|
||||
private static final double DEADZONE = 0.1;
|
||||
|
||||
private Joystick m_stick;
|
||||
private Joystick m_stick;
|
||||
|
||||
/**
|
||||
/**
|
||||
* Add your docs here.
|
||||
*/
|
||||
public XboxController(int portNumber){
|
||||
m_stick = new Joystick(portNumber);
|
||||
}
|
||||
public XboxController(int portNumber){
|
||||
m_stick = new Joystick(portNumber);
|
||||
}
|
||||
|
||||
/**
|
||||
/**
|
||||
* Add your docs here.
|
||||
*/
|
||||
public Joystick getJoyStick() {
|
||||
return m_stick;
|
||||
}
|
||||
|
||||
/**
|
||||
* Checks if the input falls within the deadzone.
|
||||
* @param input from an axis on the controller
|
||||
* @return true if input falls in deadzone, false if input falls outside deadzone
|
||||
*/
|
||||
private boolean inDeadZone(double input){
|
||||
return (Math.abs(input) < DEADZONE);
|
||||
}
|
||||
public Joystick getJoyStick() {
|
||||
return m_stick;
|
||||
}
|
||||
|
||||
/**
|
||||
* Checks if the input falls within the deadzone.
|
||||
* @param input from an axis on the controller
|
||||
* @return true if input falls in deadzone, false if input falls outside deadzone
|
||||
*/
|
||||
private boolean inDeadZone(double input){
|
||||
return (Math.abs(input) < DEADZONE);
|
||||
}
|
||||
|
||||
/**
|
||||
* Updates an input to have a deadzone around the 0 position
|
||||
* @param input from an axis on the controller
|
||||
* @return updated input
|
||||
*/
|
||||
private double getAxisWithDeadZoneCheck(double input){
|
||||
if(inDeadZone(input)){
|
||||
return 0.0;
|
||||
} else {
|
||||
return input;
|
||||
}
|
||||
}
|
||||
/**
|
||||
* Updates an input to have a deadzone around the 0 position
|
||||
* @param input from an axis on the controller
|
||||
* @return updated input
|
||||
*/
|
||||
private double getAxisWithDeadZoneCheck(double input){
|
||||
if(inDeadZone(input)){
|
||||
return 0.0;
|
||||
} else {
|
||||
return input;
|
||||
}
|
||||
}
|
||||
|
||||
public boolean getAButton(){
|
||||
return m_stick.getRawButton(A_BUTTON);
|
||||
}
|
||||
public boolean getAButton(){
|
||||
return m_stick.getRawButton(A_BUTTON);
|
||||
}
|
||||
|
||||
public boolean getXButton(){
|
||||
return m_stick.getRawButton(X_BUTTON);
|
||||
}
|
||||
public boolean getXButton(){
|
||||
return m_stick.getRawButton(X_BUTTON);
|
||||
}
|
||||
|
||||
public boolean getBButton(){
|
||||
return m_stick.getRawButton(B_BUTTON);
|
||||
}
|
||||
public boolean getBButton(){
|
||||
return m_stick.getRawButton(B_BUTTON);
|
||||
}
|
||||
|
||||
public boolean getYButton(){
|
||||
return m_stick.getRawButton(Y_BUTTON);
|
||||
}
|
||||
public boolean getYButton(){
|
||||
return m_stick.getRawButton(Y_BUTTON);
|
||||
}
|
||||
|
||||
public boolean getBackButton(){
|
||||
return m_stick.getRawButton(BACK_BUTTON);
|
||||
}
|
||||
public boolean getBackButton(){
|
||||
return m_stick.getRawButton(BACK_BUTTON);
|
||||
}
|
||||
|
||||
public boolean getStartButton(){
|
||||
return m_stick.getRawButton(START_BUTTON);
|
||||
}
|
||||
public boolean getStartButton(){
|
||||
return m_stick.getRawButton(START_BUTTON);
|
||||
}
|
||||
|
||||
public boolean getLeftBumperButton(){
|
||||
return m_stick.getRawButton(LEFT_BUMPER_BUTTON);
|
||||
}
|
||||
public boolean getLeftBumperButton(){
|
||||
return m_stick.getRawButton(LEFT_BUMPER_BUTTON);
|
||||
}
|
||||
|
||||
public boolean getRightBumperButton(){
|
||||
return m_stick.getRawButton(RIGHT_BUMPER_BUTTON);
|
||||
}
|
||||
public boolean getRightBumperButton(){
|
||||
return m_stick.getRawButton(RIGHT_BUMPER_BUTTON);
|
||||
}
|
||||
|
||||
public boolean getLeftJoystickButton(){
|
||||
return m_stick.getRawButton(LEFT_JOYSTICK_BUTTON);
|
||||
}
|
||||
public boolean getLeftJoystickButton(){
|
||||
return m_stick.getRawButton(LEFT_JOYSTICK_BUTTON);
|
||||
}
|
||||
|
||||
public boolean getRightJoystickButton(){
|
||||
return m_stick.getRawButton(RIGHT_JOYSTICK_BUTTON);
|
||||
}
|
||||
public boolean getRightJoystickButton(){
|
||||
return m_stick.getRawButton(RIGHT_JOYSTICK_BUTTON);
|
||||
}
|
||||
|
||||
public double getLeftXAxis(){
|
||||
return getAxisWithDeadZoneCheck(m_stick.getRawAxis(LEFT_X_AXIS));
|
||||
}
|
||||
public double getLeftXAxis(){
|
||||
return getAxisWithDeadZoneCheck(m_stick.getRawAxis(LEFT_X_AXIS));
|
||||
}
|
||||
|
||||
public double getLeftYAxis(){
|
||||
return getAxisWithDeadZoneCheck(m_stick.getRawAxis(LEFT_Y_AXIS));
|
||||
}
|
||||
public double getLeftYAxis(){
|
||||
return getAxisWithDeadZoneCheck(m_stick.getRawAxis(LEFT_Y_AXIS));
|
||||
}
|
||||
|
||||
public double getRightXAxis(){
|
||||
return getAxisWithDeadZoneCheck(m_stick.getRawAxis(RIGHT_X_AXIS));
|
||||
}
|
||||
public double getRightXAxis(){
|
||||
return getAxisWithDeadZoneCheck(m_stick.getRawAxis(RIGHT_X_AXIS));
|
||||
}
|
||||
|
||||
public double getRightYAxis(){
|
||||
return getAxisWithDeadZoneCheck(m_stick.getRawAxis(RIGHT_Y_AXIS));
|
||||
}
|
||||
public double getRightYAxis(){
|
||||
return getAxisWithDeadZoneCheck(m_stick.getRawAxis(RIGHT_Y_AXIS));
|
||||
}
|
||||
|
||||
public double getLeftTriggerAxis(){
|
||||
return getAxisWithDeadZoneCheck(m_stick.getRawAxis(LEFT_TRIGGER_AXIS));
|
||||
}
|
||||
public double getLeftTriggerAxis(){
|
||||
return getAxisWithDeadZoneCheck(m_stick.getRawAxis(LEFT_TRIGGER_AXIS));
|
||||
}
|
||||
|
||||
public double getRightTriggerAxis(){
|
||||
return getAxisWithDeadZoneCheck(m_stick.getRawAxis(RIGHT_TRIGGER_AXIS));
|
||||
}
|
||||
public double getRightTriggerAxis(){
|
||||
return getAxisWithDeadZoneCheck(m_stick.getRawAxis(RIGHT_TRIGGER_AXIS));
|
||||
}
|
||||
|
||||
/**
|
||||
* Get the angle input from the dpad.
|
||||
* @return -1 if nothing is pressed, or the angle of the button pressed. 0 = up, 90 = right, etc.
|
||||
*/
|
||||
public int getDpadAngle() {
|
||||
return m_stick.getPOV(0);
|
||||
}
|
||||
/**
|
||||
* Get the angle input from the dpad.
|
||||
* @return -1 if nothing is pressed, or the angle of the button pressed. 0 = up, 90 = right, etc.
|
||||
*/
|
||||
public int getDpadAngle() {
|
||||
return m_stick.getPOV(0);
|
||||
}
|
||||
|
||||
public boolean getDPadLeft(){
|
||||
public boolean getDPadLeft(){
|
||||
return (m_stick.getRawAxis(LEFT_RIGHT_DPAD_AXIS) < LEFT_DPAD_TOLERANCE);
|
||||
}
|
||||
}
|
||||
|
||||
public boolean getDPadRight(){
|
||||
public boolean getDPadRight(){
|
||||
return (m_stick.getRawAxis(LEFT_RIGHT_DPAD_AXIS) > RIGHT_DPAD_TOLERANCE);
|
||||
}
|
||||
}
|
||||
|
||||
public boolean getDPadTop(){
|
||||
public boolean getDPadTop(){
|
||||
return (m_stick.getRawAxis(TOP_BOTTOM_DPAD_AXIS) < TOP_DPAD_TOLERANCE);
|
||||
}
|
||||
}
|
||||
|
||||
public boolean getDPadBottom(){
|
||||
public boolean getDPadBottom(){
|
||||
return (m_stick.getRawAxis(TOP_BOTTOM_DPAD_AXIS) > BOTTOM_DPAD_TOLERANCE);
|
||||
}
|
||||
}
|
||||
|
||||
public boolean getLeftTrigger(){
|
||||
return (getLeftTriggerAxis() > LEFT_TRIGGER_TOLERANCE);
|
||||
}
|
||||
public boolean getLeftTrigger(){
|
||||
return (getLeftTriggerAxis() > LEFT_TRIGGER_TOLERANCE);
|
||||
}
|
||||
|
||||
public boolean getRightTrigger(){
|
||||
return (getRightTriggerAxis() > RIGHT_TRIGGER_TOLERANCE);
|
||||
}
|
||||
public boolean getRightTrigger(){
|
||||
return (getRightTriggerAxis() > RIGHT_TRIGGER_TOLERANCE);
|
||||
}
|
||||
|
||||
public boolean getRightAxisUpTrigger(){
|
||||
return (getRightYAxis() < RIGHT_AXIS_UP_TOLERANCE);
|
||||
}
|
||||
public boolean getRightAxisUpTrigger(){
|
||||
return (getRightYAxis() < RIGHT_AXIS_UP_TOLERANCE);
|
||||
}
|
||||
|
||||
public boolean getRightAxisDownTrigger(){
|
||||
return (getRightYAxis() > RIGHT_AXIS_DOWN_TOLERANCE);
|
||||
}
|
||||
public boolean getRightAxisDownTrigger(){
|
||||
return (getRightYAxis() > RIGHT_AXIS_DOWN_TOLERANCE);
|
||||
}
|
||||
|
||||
public boolean getRightAxisLeftTrigger(){
|
||||
return (getRightXAxis() > RIGHT_AXIS_LEFT_TOLERANCE);
|
||||
}
|
||||
public boolean getRightAxisLeftTrigger(){
|
||||
return (getRightXAxis() > RIGHT_AXIS_LEFT_TOLERANCE);
|
||||
}
|
||||
|
||||
public boolean getRightAxisRightTrigger(){
|
||||
return (getRightXAxis() > RIGHT_AXIS_RIGHT_TOLERANCE);
|
||||
}
|
||||
public boolean getRightAxisRightTrigger(){
|
||||
return (getRightXAxis() > RIGHT_AXIS_RIGHT_TOLERANCE);
|
||||
}
|
||||
|
||||
public boolean getLeftAxisUpTrigger(){
|
||||
return (getLeftYAxis() < LEFT_AXIS_UP_TOLERANCE);
|
||||
}
|
||||
public boolean getLeftAxisUpTrigger(){
|
||||
return (getLeftYAxis() < LEFT_AXIS_UP_TOLERANCE);
|
||||
}
|
||||
|
||||
public boolean getLeftAxisDownTrigger(){
|
||||
return (getLeftYAxis() > LEFT_AXIS_DOWN_TOLERANCE);
|
||||
}
|
||||
public boolean getLeftAxisDownTrigger(){
|
||||
return (getLeftYAxis() > LEFT_AXIS_DOWN_TOLERANCE);
|
||||
}
|
||||
|
||||
public boolean getLeftAxisLeftTrigger(){
|
||||
return (getLeftXAxis() > LEFT_AXIS_LEFT_TOLERANCE);
|
||||
}
|
||||
public boolean getLeftAxisLeftTrigger(){
|
||||
return (getLeftXAxis() > LEFT_AXIS_LEFT_TOLERANCE);
|
||||
}
|
||||
|
||||
public boolean getLeftAxisRightTrigger(){
|
||||
return (getLeftXAxis() > LEFT_AXIS_RIGHT_TOLERANCE);
|
||||
}
|
||||
public boolean getLeftAxisRightTrigger(){
|
||||
return (getLeftXAxis() > LEFT_AXIS_RIGHT_TOLERANCE);
|
||||
}
|
||||
}
|
||||
@@ -1,7 +1,6 @@
|
||||
package frc4388.utility.controller;
|
||||
|
||||
import edu.wpi.first.wpilibj2.command.button.Button;
|
||||
import frc4388.utility.controller.XboxController;
|
||||
|
||||
/**
|
||||
* Mapping for the Xbox controller triggers to allow triggers to be defined as
|
||||
@@ -9,61 +8,43 @@ import frc4388.utility.controller.XboxController;
|
||||
* exceeds a tolerance defined in {@link XboxController}.
|
||||
*/
|
||||
public class XboxTriggerButton extends Button {
|
||||
public static final int RIGHT_TRIGGER = 0;
|
||||
public static final int LEFT_TRIGGER = 1;
|
||||
public static final int RIGHT_AXIS_UP_TRIGGER = 2;
|
||||
public static final int RIGHT_AXIS_DOWN_TRIGGER = 3;
|
||||
public static final int RIGHT_AXIS_RIGHT_TRIGGER = 4;
|
||||
public static final int RIGHT_AXIS_LEFT_TRIGGER = 5;
|
||||
public static final int LEFT_AXIS_UP_TRIGGER = 6;
|
||||
public static final int LEFT_AXIS_DOWN_TRIGGER = 7;
|
||||
public static final int LEFT_AXIS_RIGHT_TRIGGER = 8;
|
||||
public static final int LEFT_AXIS_LEFT_TRIGGER = 9;
|
||||
public static final int RIGHT_TRIGGER = 0;
|
||||
public static final int LEFT_TRIGGER = 1;
|
||||
public static final int RIGHT_AXIS_UP_TRIGGER = 2;
|
||||
public static final int RIGHT_AXIS_DOWN_TRIGGER = 3;
|
||||
public static final int RIGHT_AXIS_RIGHT_TRIGGER = 4;
|
||||
public static final int RIGHT_AXIS_LEFT_TRIGGER = 5;
|
||||
public static final int LEFT_AXIS_UP_TRIGGER = 6;
|
||||
public static final int LEFT_AXIS_DOWN_TRIGGER = 7;
|
||||
public static final int LEFT_AXIS_RIGHT_TRIGGER = 8;
|
||||
public static final int LEFT_AXIS_LEFT_TRIGGER = 9;
|
||||
|
||||
private XboxController m_controller;
|
||||
private int m_trigger;
|
||||
private XboxController m_controller;
|
||||
private int m_trigger;
|
||||
|
||||
/**
|
||||
* Creates a Trigger-Button mapped to a specific Xbox controller and trigger
|
||||
*/
|
||||
public XboxTriggerButton(XboxController controller, int trigger) {
|
||||
m_controller = controller;
|
||||
m_trigger = trigger;
|
||||
}
|
||||
/**
|
||||
* Creates a Trigger-Button mapped to a specific Xbox controller and trigger
|
||||
*/
|
||||
public XboxTriggerButton(XboxController controller, int trigger) {
|
||||
m_controller = controller;
|
||||
m_trigger = trigger;
|
||||
}
|
||||
|
||||
/** {@inheritDoc} */
|
||||
@Override
|
||||
public boolean get() {
|
||||
if (m_trigger == RIGHT_TRIGGER) {
|
||||
return m_controller.getRightTrigger();
|
||||
}
|
||||
else if (m_trigger == LEFT_TRIGGER) {
|
||||
return m_controller.getLeftTrigger();
|
||||
}
|
||||
else if (m_trigger == RIGHT_AXIS_UP_TRIGGER) {
|
||||
return m_controller.getRightAxisUpTrigger();
|
||||
}
|
||||
else if (m_trigger == RIGHT_AXIS_DOWN_TRIGGER) {
|
||||
return m_controller.getRightAxisDownTrigger();
|
||||
}
|
||||
else if (m_trigger == RIGHT_AXIS_RIGHT_TRIGGER) {
|
||||
return m_controller.getRightAxisRightTrigger();
|
||||
}
|
||||
else if (m_trigger == RIGHT_AXIS_LEFT_TRIGGER) {
|
||||
return m_controller.getRightAxisLeftTrigger();
|
||||
}
|
||||
else if (m_trigger == LEFT_AXIS_UP_TRIGGER) {
|
||||
return m_controller.getLeftAxisUpTrigger();
|
||||
}
|
||||
else if (m_trigger == LEFT_AXIS_DOWN_TRIGGER) {
|
||||
return m_controller.getLeftAxisDownTrigger();
|
||||
}
|
||||
else if (m_trigger == LEFT_AXIS_RIGHT_TRIGGER) {
|
||||
return m_controller.getLeftAxisRightTrigger();
|
||||
}
|
||||
else if (m_trigger == LEFT_AXIS_LEFT_TRIGGER) {
|
||||
return m_controller.getLeftAxisLeftTrigger();
|
||||
}
|
||||
return false;
|
||||
}
|
||||
/** {@inheritDoc} */
|
||||
@Override
|
||||
public boolean get() {
|
||||
switch (m_trigger) {
|
||||
case RIGHT_TRIGGER: return m_controller.getRightTrigger();
|
||||
case LEFT_TRIGGER: return m_controller.getLeftTrigger();
|
||||
case RIGHT_AXIS_UP_TRIGGER: return m_controller.getRightAxisUpTrigger();
|
||||
case RIGHT_AXIS_DOWN_TRIGGER: return m_controller.getRightAxisDownTrigger();
|
||||
case RIGHT_AXIS_RIGHT_TRIGGER: return m_controller.getRightAxisRightTrigger();
|
||||
case RIGHT_AXIS_LEFT_TRIGGER: return m_controller.getRightAxisLeftTrigger();
|
||||
case LEFT_AXIS_UP_TRIGGER: return m_controller.getLeftAxisUpTrigger();
|
||||
case LEFT_AXIS_DOWN_TRIGGER: return m_controller.getLeftAxisDownTrigger();
|
||||
case LEFT_AXIS_RIGHT_TRIGGER: return m_controller.getLeftAxisRightTrigger();
|
||||
case LEFT_AXIS_LEFT_TRIGGER: return m_controller.getLeftAxisLeftTrigger();
|
||||
default: return false;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
Reference in New Issue
Block a user