Update XboxControllerRaw.java

2026-06-09 08:48:07 -06:00 · 2022-01-15 14:22:45 -07:00
parent 2788291c6e
commit a93eb025f1
1 changed files with 67 additions and 13 deletions
@@ -1,20 +1,74 @@
-// package frc4388.utility.controller;
+package frc4388.utility.controller;
+import java.nio.ByteBuffer;
+import edu.wpi.first.hal.HAL;

-// public class XboxControllerRaw implements IHandController {
-//   int buttons;
-//   public void updateInput() {
-//   }
-//   public double getLeftXAxis() {}

-//   public double getLeftYAxis();
+public class XboxControllerRaw 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 A_BUTTON = 0;
+    public static final int B_BUTTON = 1;
+    public static final int X_BUTTON = 2;
+    public static final int Y_BUTTON = 3;
+    public static final int LEFT_BUMPER_BUTTON = 4;
+    public static final int RIGHT_BUMPER_BUTTON = 5;
+    public static final int BACK_BUTTON = 6;
+    public static final int START_BUTTON = 7;
+  
+    public static final int LEFT_JOYSTICK_BUTTON = 8;
+    public static final int RIGHT_JOYSTICK_BUTTON = 9;

-//   public double getRightXAxis();
+  private int m_buttons = 0;
+  private int m_numButtons;
+  private ByteBuffer m_buttonCountBuffer = ByteBuffer.allocateDirect(1);
+  float[] m_axes = new float[HAL.kMaxJoystickAxes];
+  public void updateInput() {
+    HAL.getJoystickAxes((byte) 0, m_axes);    
+    m_buttons = HAL.getJoystickButtons((byte) 0, m_buttonCountBuffer);
+    m_numButtons = m_buttonCountBuffer.get(0);
+  }

-//   public double getRightYAxis();
+  public int getNumButtons() {
+    return m_numButtons;
+  }

-//   public double getLeftTriggerAxis();
+  public boolean getButton(int index) {
+      return (m_buttons & 1 << index) > 0;
+  }
+  public double getLeftXAxis() {
+      return m_axes[LEFT_X_AXIS];
+  }

-//   public double getRightTriggerAxis();
+  public double getLeftYAxis() {
+      
+    return m_axes[LEFT_Y_AXIS];
+  }

-//   public int getDpadAngle();
-// }
+  public double getRightXAxis() {
+      
+    return m_axes[RIGHT_X_AXIS];
+  }
+
+  public double getRightYAxis() {
+    return m_axes[RIGHT_Y_AXIS];
+  }
+
+  public double getLeftTriggerAxis() {
+    return m_axes[LEFT_TRIGGER_AXIS];
+  }
+
+  public double getRightTriggerAxis() {
+    return m_axes[RIGHT_TRIGGER_AXIS];
+  }
+
+  public int getDpadAngle() {
+      return -1;
+  }
+}