mirror of
https://github.com/Team4388/2022NoWayHome.git
synced 2026-06-09 00:38:05 -06:00
Upgrade to 2022
* Update license * Remove arcade drive * Correct indentation * Disable RobotGyro (new gyro is untested)
This commit is contained in:
nathanrsxtn
@@ -5,17 +5,17 @@ package frc4388.utility.controller;
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*/
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public interface IHandController {
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public double getLeftXAxis();
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public double getLeftXAxis();
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public double getLeftYAxis();
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public double getLeftYAxis();
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public double getRightXAxis();
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public double getRightYAxis();
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public double getRightXAxis();
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public double getLeftTriggerAxis();
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public double getRightYAxis();
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public double getRightTriggerAxis();
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public double getLeftTriggerAxis();
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public int getDpadAngle();
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public double getRightTriggerAxis();
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public int getDpadAngle();
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}
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@@ -9,210 +9,210 @@ import edu.wpi.first.wpilibj.Joystick;
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*/
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public class XboxController implements IHandController
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{
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public static final int LEFT_X_AXIS = 0;
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public static final int LEFT_Y_AXIS = 1;
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public static final int LEFT_TRIGGER_AXIS = 2;
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public static final int RIGHT_TRIGGER_AXIS = 3;
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public static final int RIGHT_X_AXIS = 4;
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public static final int RIGHT_Y_AXIS = 5;
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public static final int LEFT_RIGHT_DPAD_AXIS = 6;
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public static final int TOP_BOTTOM_DPAD_AXIS = 6;
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public static final int LEFT_X_AXIS = 0;
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public static final int LEFT_Y_AXIS = 1;
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public static final int LEFT_TRIGGER_AXIS = 2;
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public static final int RIGHT_TRIGGER_AXIS = 3;
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public static final int RIGHT_X_AXIS = 4;
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public static final int RIGHT_Y_AXIS = 5;
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public static final int LEFT_RIGHT_DPAD_AXIS = 6;
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public static final int TOP_BOTTOM_DPAD_AXIS = 6;
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public static final int A_BUTTON = 1;
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public static final int B_BUTTON = 2;
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public static final int X_BUTTON = 3;
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public static final int Y_BUTTON = 4;
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public static final int LEFT_BUMPER_BUTTON = 5;
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public static final int RIGHT_BUMPER_BUTTON = 6;
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public static final int BACK_BUTTON = 7;
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public static final int START_BUTTON = 8;
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public static final int A_BUTTON = 1;
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public static final int B_BUTTON = 2;
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public static final int X_BUTTON = 3;
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public static final int Y_BUTTON = 4;
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public static final int LEFT_BUMPER_BUTTON = 5;
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public static final int RIGHT_BUMPER_BUTTON = 6;
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public static final int BACK_BUTTON = 7;
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public static final int START_BUTTON = 8;
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public static final int LEFT_JOYSTICK_BUTTON = 9;
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public static final int RIGHT_JOYSTICK_BUTTON = 10;
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public static final int LEFT_JOYSTICK_BUTTON = 9;
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public static final int RIGHT_JOYSTICK_BUTTON = 10;
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private static final double LEFT_DPAD_TOLERANCE = -0.9;
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private static final double RIGHT_DPAD_TOLERANCE = 0.9;
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private static final double BOTTOM_DPAD_TOLERANCE = -0.9;
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private static final double TOP_DPAD_TOLERANCE = 0.9;
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private static final double LEFT_DPAD_TOLERANCE = -0.9;
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private static final double RIGHT_DPAD_TOLERANCE = 0.9;
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private static final double BOTTOM_DPAD_TOLERANCE = -0.9;
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private static final double TOP_DPAD_TOLERANCE = 0.9;
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private static final double LEFT_TRIGGER_TOLERANCE = 0.5;
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private static final double RIGHT_TRIGGER_TOLERANCE = 0.5;
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private static final double LEFT_TRIGGER_TOLERANCE = 0.5;
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private static final double RIGHT_TRIGGER_TOLERANCE = 0.5;
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private static final double RIGHT_AXIS_UP_TOLERANCE = -0.9;
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private static final double RIGHT_AXIS_DOWN_TOLERANCE = 0.9;
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private static final double RIGHT_AXIS_RIGHT_TOLERANCE = 0.9;
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private static final double RIGHT_AXIS_LEFT_TOLERANCE = -0.9;
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private static final double RIGHT_AXIS_UP_TOLERANCE = -0.9;
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private static final double RIGHT_AXIS_DOWN_TOLERANCE = 0.9;
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private static final double RIGHT_AXIS_RIGHT_TOLERANCE = 0.9;
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private static final double RIGHT_AXIS_LEFT_TOLERANCE = -0.9;
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private static final double LEFT_AXIS_UP_TOLERANCE = -0.9;
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private static final double LEFT_AXIS_DOWN_TOLERANCE = 0.9;
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private static final double LEFT_AXIS_RIGHT_TOLERANCE = 0.9;
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private static final double LEFT_AXIS_LEFT_TOLERANCE = -0.9;
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private static final double LEFT_AXIS_UP_TOLERANCE = -0.9;
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private static final double LEFT_AXIS_DOWN_TOLERANCE = 0.9;
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private static final double LEFT_AXIS_RIGHT_TOLERANCE = 0.9;
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private static final double LEFT_AXIS_LEFT_TOLERANCE = -0.9;
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private static final double DEADZONE = 0.1;
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private static final double DEADZONE = 0.1;
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private Joystick m_stick;
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private Joystick m_stick;
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/**
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/**
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* Add your docs here.
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*/
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public XboxController(int portNumber){
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m_stick = new Joystick(portNumber);
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}
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public XboxController(int portNumber){
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m_stick = new Joystick(portNumber);
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}
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/**
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/**
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* Add your docs here.
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*/
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public Joystick getJoyStick() {
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return m_stick;
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}
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/**
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* Checks if the input falls within the deadzone.
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* @param input from an axis on the controller
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* @return true if input falls in deadzone, false if input falls outside deadzone
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*/
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private boolean inDeadZone(double input){
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return (Math.abs(input) < DEADZONE);
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}
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public Joystick getJoyStick() {
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return m_stick;
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}
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/**
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* Checks if the input falls within the deadzone.
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* @param input from an axis on the controller
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* @return true if input falls in deadzone, false if input falls outside deadzone
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*/
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private boolean inDeadZone(double input){
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return (Math.abs(input) < DEADZONE);
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}
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/**
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* Updates an input to have a deadzone around the 0 position
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* @param input from an axis on the controller
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* @return updated input
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*/
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private double getAxisWithDeadZoneCheck(double input){
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if(inDeadZone(input)){
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return 0.0;
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} else {
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return input;
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}
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}
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/**
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* Updates an input to have a deadzone around the 0 position
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* @param input from an axis on the controller
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* @return updated input
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*/
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private double getAxisWithDeadZoneCheck(double input){
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if(inDeadZone(input)){
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return 0.0;
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} else {
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return input;
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}
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}
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public boolean getAButton(){
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return m_stick.getRawButton(A_BUTTON);
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}
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public boolean getAButton(){
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return m_stick.getRawButton(A_BUTTON);
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}
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public boolean getXButton(){
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return m_stick.getRawButton(X_BUTTON);
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}
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public boolean getXButton(){
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return m_stick.getRawButton(X_BUTTON);
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}
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public boolean getBButton(){
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return m_stick.getRawButton(B_BUTTON);
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}
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public boolean getBButton(){
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return m_stick.getRawButton(B_BUTTON);
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}
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public boolean getYButton(){
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return m_stick.getRawButton(Y_BUTTON);
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}
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public boolean getYButton(){
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return m_stick.getRawButton(Y_BUTTON);
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}
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public boolean getBackButton(){
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return m_stick.getRawButton(BACK_BUTTON);
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}
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public boolean getBackButton(){
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return m_stick.getRawButton(BACK_BUTTON);
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}
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public boolean getStartButton(){
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return m_stick.getRawButton(START_BUTTON);
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}
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public boolean getStartButton(){
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return m_stick.getRawButton(START_BUTTON);
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}
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public boolean getLeftBumperButton(){
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return m_stick.getRawButton(LEFT_BUMPER_BUTTON);
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}
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public boolean getLeftBumperButton(){
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return m_stick.getRawButton(LEFT_BUMPER_BUTTON);
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}
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public boolean getRightBumperButton(){
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return m_stick.getRawButton(RIGHT_BUMPER_BUTTON);
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}
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public boolean getRightBumperButton(){
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return m_stick.getRawButton(RIGHT_BUMPER_BUTTON);
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}
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public boolean getLeftJoystickButton(){
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return m_stick.getRawButton(LEFT_JOYSTICK_BUTTON);
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}
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public boolean getLeftJoystickButton(){
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return m_stick.getRawButton(LEFT_JOYSTICK_BUTTON);
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}
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public boolean getRightJoystickButton(){
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return m_stick.getRawButton(RIGHT_JOYSTICK_BUTTON);
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}
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public boolean getRightJoystickButton(){
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return m_stick.getRawButton(RIGHT_JOYSTICK_BUTTON);
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}
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public double getLeftXAxis(){
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return getAxisWithDeadZoneCheck(m_stick.getRawAxis(LEFT_X_AXIS));
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}
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public double getLeftXAxis(){
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return getAxisWithDeadZoneCheck(m_stick.getRawAxis(LEFT_X_AXIS));
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}
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public double getLeftYAxis(){
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return getAxisWithDeadZoneCheck(m_stick.getRawAxis(LEFT_Y_AXIS));
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}
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public double getLeftYAxis(){
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return getAxisWithDeadZoneCheck(m_stick.getRawAxis(LEFT_Y_AXIS));
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}
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public double getRightXAxis(){
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return getAxisWithDeadZoneCheck(m_stick.getRawAxis(RIGHT_X_AXIS));
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}
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public double getRightXAxis(){
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return getAxisWithDeadZoneCheck(m_stick.getRawAxis(RIGHT_X_AXIS));
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}
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public double getRightYAxis(){
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return getAxisWithDeadZoneCheck(m_stick.getRawAxis(RIGHT_Y_AXIS));
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}
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public double getRightYAxis(){
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return getAxisWithDeadZoneCheck(m_stick.getRawAxis(RIGHT_Y_AXIS));
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}
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public double getLeftTriggerAxis(){
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return getAxisWithDeadZoneCheck(m_stick.getRawAxis(LEFT_TRIGGER_AXIS));
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}
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public double getLeftTriggerAxis(){
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return getAxisWithDeadZoneCheck(m_stick.getRawAxis(LEFT_TRIGGER_AXIS));
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}
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public double getRightTriggerAxis(){
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return getAxisWithDeadZoneCheck(m_stick.getRawAxis(RIGHT_TRIGGER_AXIS));
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}
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public double getRightTriggerAxis(){
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return getAxisWithDeadZoneCheck(m_stick.getRawAxis(RIGHT_TRIGGER_AXIS));
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}
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/**
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* Get the angle input from the dpad.
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* @return -1 if nothing is pressed, or the angle of the button pressed. 0 = up, 90 = right, etc.
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*/
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public int getDpadAngle() {
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return m_stick.getPOV(0);
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}
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/**
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* Get the angle input from the dpad.
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* @return -1 if nothing is pressed, or the angle of the button pressed. 0 = up, 90 = right, etc.
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*/
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public int getDpadAngle() {
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return m_stick.getPOV(0);
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}
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public boolean getDPadLeft(){
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public boolean getDPadLeft(){
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return (m_stick.getRawAxis(LEFT_RIGHT_DPAD_AXIS) < LEFT_DPAD_TOLERANCE);
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}
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}
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public boolean getDPadRight(){
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public boolean getDPadRight(){
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return (m_stick.getRawAxis(LEFT_RIGHT_DPAD_AXIS) > RIGHT_DPAD_TOLERANCE);
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}
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}
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public boolean getDPadTop(){
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public boolean getDPadTop(){
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return (m_stick.getRawAxis(TOP_BOTTOM_DPAD_AXIS) < TOP_DPAD_TOLERANCE);
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}
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}
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public boolean getDPadBottom(){
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public boolean getDPadBottom(){
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return (m_stick.getRawAxis(TOP_BOTTOM_DPAD_AXIS) > BOTTOM_DPAD_TOLERANCE);
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}
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}
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public boolean getLeftTrigger(){
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return (getLeftTriggerAxis() > LEFT_TRIGGER_TOLERANCE);
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}
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public boolean getLeftTrigger(){
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return (getLeftTriggerAxis() > LEFT_TRIGGER_TOLERANCE);
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}
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public boolean getRightTrigger(){
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return (getRightTriggerAxis() > RIGHT_TRIGGER_TOLERANCE);
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}
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public boolean getRightTrigger(){
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return (getRightTriggerAxis() > RIGHT_TRIGGER_TOLERANCE);
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}
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public boolean getRightAxisUpTrigger(){
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return (getRightYAxis() < RIGHT_AXIS_UP_TOLERANCE);
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}
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public boolean getRightAxisUpTrigger(){
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return (getRightYAxis() < RIGHT_AXIS_UP_TOLERANCE);
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}
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public boolean getRightAxisDownTrigger(){
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return (getRightYAxis() > RIGHT_AXIS_DOWN_TOLERANCE);
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}
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public boolean getRightAxisDownTrigger(){
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return (getRightYAxis() > RIGHT_AXIS_DOWN_TOLERANCE);
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}
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public boolean getRightAxisLeftTrigger(){
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return (getRightXAxis() > RIGHT_AXIS_LEFT_TOLERANCE);
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}
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public boolean getRightAxisLeftTrigger(){
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return (getRightXAxis() > RIGHT_AXIS_LEFT_TOLERANCE);
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}
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public boolean getRightAxisRightTrigger(){
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return (getRightXAxis() > RIGHT_AXIS_RIGHT_TOLERANCE);
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}
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public boolean getRightAxisRightTrigger(){
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return (getRightXAxis() > RIGHT_AXIS_RIGHT_TOLERANCE);
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}
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public boolean getLeftAxisUpTrigger(){
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return (getLeftYAxis() < LEFT_AXIS_UP_TOLERANCE);
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}
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public boolean getLeftAxisUpTrigger(){
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return (getLeftYAxis() < LEFT_AXIS_UP_TOLERANCE);
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}
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public boolean getLeftAxisDownTrigger(){
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return (getLeftYAxis() > LEFT_AXIS_DOWN_TOLERANCE);
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}
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public boolean getLeftAxisDownTrigger(){
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return (getLeftYAxis() > LEFT_AXIS_DOWN_TOLERANCE);
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}
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public boolean getLeftAxisLeftTrigger(){
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return (getLeftXAxis() > LEFT_AXIS_LEFT_TOLERANCE);
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}
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public boolean getLeftAxisLeftTrigger(){
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return (getLeftXAxis() > LEFT_AXIS_LEFT_TOLERANCE);
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}
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public boolean getLeftAxisRightTrigger(){
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return (getLeftXAxis() > LEFT_AXIS_RIGHT_TOLERANCE);
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}
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public boolean getLeftAxisRightTrigger(){
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return (getLeftXAxis() > LEFT_AXIS_RIGHT_TOLERANCE);
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}
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}
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@@ -1,7 +1,6 @@
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package frc4388.utility.controller;
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import edu.wpi.first.wpilibj2.command.button.Button;
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import frc4388.utility.controller.XboxController;
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/**
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* Mapping for the Xbox controller triggers to allow triggers to be defined as
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@@ -9,61 +8,43 @@ import frc4388.utility.controller.XboxController;
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* exceeds a tolerance defined in {@link XboxController}.
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*/
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public class XboxTriggerButton extends Button {
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public static final int RIGHT_TRIGGER = 0;
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public static final int LEFT_TRIGGER = 1;
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public static final int RIGHT_AXIS_UP_TRIGGER = 2;
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public static final int RIGHT_AXIS_DOWN_TRIGGER = 3;
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public static final int RIGHT_AXIS_RIGHT_TRIGGER = 4;
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public static final int RIGHT_AXIS_LEFT_TRIGGER = 5;
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public static final int LEFT_AXIS_UP_TRIGGER = 6;
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public static final int LEFT_AXIS_DOWN_TRIGGER = 7;
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public static final int LEFT_AXIS_RIGHT_TRIGGER = 8;
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public static final int LEFT_AXIS_LEFT_TRIGGER = 9;
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public static final int RIGHT_TRIGGER = 0;
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public static final int LEFT_TRIGGER = 1;
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public static final int RIGHT_AXIS_UP_TRIGGER = 2;
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public static final int RIGHT_AXIS_DOWN_TRIGGER = 3;
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public static final int RIGHT_AXIS_RIGHT_TRIGGER = 4;
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public static final int RIGHT_AXIS_LEFT_TRIGGER = 5;
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public static final int LEFT_AXIS_UP_TRIGGER = 6;
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public static final int LEFT_AXIS_DOWN_TRIGGER = 7;
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public static final int LEFT_AXIS_RIGHT_TRIGGER = 8;
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public static final int LEFT_AXIS_LEFT_TRIGGER = 9;
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private XboxController m_controller;
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private int m_trigger;
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private XboxController m_controller;
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private int m_trigger;
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/**
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* Creates a Trigger-Button mapped to a specific Xbox controller and trigger
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*/
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public XboxTriggerButton(XboxController controller, int trigger) {
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m_controller = controller;
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m_trigger = trigger;
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}
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/**
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* Creates a Trigger-Button mapped to a specific Xbox controller and trigger
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*/
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public XboxTriggerButton(XboxController controller, int trigger) {
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m_controller = controller;
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m_trigger = trigger;
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}
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/** {@inheritDoc} */
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@Override
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public boolean get() {
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if (m_trigger == RIGHT_TRIGGER) {
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return m_controller.getRightTrigger();
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}
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else if (m_trigger == LEFT_TRIGGER) {
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return m_controller.getLeftTrigger();
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}
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else if (m_trigger == RIGHT_AXIS_UP_TRIGGER) {
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return m_controller.getRightAxisUpTrigger();
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}
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else if (m_trigger == RIGHT_AXIS_DOWN_TRIGGER) {
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return m_controller.getRightAxisDownTrigger();
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}
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else if (m_trigger == RIGHT_AXIS_RIGHT_TRIGGER) {
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return m_controller.getRightAxisRightTrigger();
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||||
}
|
||||
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