change (this is the good branch)

src/main/java/frc4388/robot/Constants.java

@@ -137,6 +137,8 @@ public final class Constants {
   public static final class OIConstants {
     public static final int XBOX_DRIVER_ID = 0;
     public static final int XBOX_OPERATOR_ID = 1;
+
+    public static final int NUNCHUKS_ID = 2;
     
     public static final double LEFT_AXIS_DEADBAND = 0.1;
     public static final double RIGHT_AXIS_DEADBAND = 0.6;

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

@@ -0,0 +1,29 @@
+// 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.controller;
+
+import edu.wpi.first.math.geometry.Translation2d;
+import frc4388.robot.Constants.OIConstants;
+
+/** Add your docs here. */
+public class DeadbandedNunchuks extends Nunchuks {
+    public DeadbandedNunchuks(int port) { super(port); }
+  
+    @Override public double getLeftX() { return getLeft().getX(); }
+    @Override public double getLeftY() { return getLeft().getY(); }
+    @Override public double getRightX() { return getRight().getX(); }
+    @Override public double getRightY() { return getRight().getY(); }
+  
+    public Translation2d getLeft() { return skewToDeadzonedCircle(super.getLeftX(), super.getLeftY()); }
+    public Translation2d getRight() { return skewToDeadzonedCircle(-super.getRightX(), super.getRightY()); }
+  
+    public static Translation2d skewToDeadzonedCircle(double x, double y) {
+      Translation2d translation2d = new Translation2d(x, y);
+      double magnitude = translation2d.getNorm();
+      if (OIConstants.SKEW_STICKS && magnitude >= 1) return translation2d.div(magnitude);
+      if (magnitude < OIConstants.LEFT_AXIS_DEADBAND) return new Translation2d(0,0);
+      return translation2d;
+    }
+}

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

@@ -0,0 +1,146 @@
+// 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.controller;
+
+import edu.wpi.first.hal.HAL;
+import edu.wpi.first.hal.FRCNetComm.tResourceType;
+import edu.wpi.first.wpilibj.GenericHID;
+import edu.wpi.first.wpilibj.Joystick;
+
+/** Add your docs here. */
+public class Nunchuks extends GenericHID {
+
+    public enum Button {
+        kLeftZ(2);
+    
+        public final int value;
+    
+        Button(int value) {
+          this.value = value;
+        }
+    
+        /**
+         * Get the human-friendly name of the button, matching the relevant methods. This is done by
+         * stripping the leading `k`, and if not a Bumper button append `Button`.
+         *
+         * <p>Primarily used for automated unit tests.
+         *
+         * @return the human-friendly name of the button.
+         */
+        @Override
+        public String toString() {
+          var name = this.name().substring(1); // Remove leading `k`
+          if (name.endsWith("Bumper")) {
+            return name;
+          }
+          return name + "Button";
+        }
+      }
+    
+     /** Represents an axis on an XboxController. */
+  public enum Axis {
+    kLeftX(0),
+    kLeftY(1),
+    kRightX(3),
+    kRightY(4);
+
+    public final int value;
+
+    Axis(int value) {
+      this.value = value;
+    }
+
+    /**
+     * Get the human-friendly name of the axis, matching the relevant methods. This is done by
+     * stripping the leading `k`, and if a trigger axis append `Axis`.
+     *
+     * <p>Primarily used for automated unit tests.
+     *
+     * @return the human-friendly name of the axis.
+     */
+    @Override
+    public String toString() {
+      var name = this.name().substring(1); // Remove leading `k`
+      if (name.endsWith("Trigger")) {
+        return name + "Axis";
+      }
+      return name;
+    }
+  }
+
+    // public static final int LEFT_X_AXIS = 0;
+	// public static final int LEFT_Y_AXIS = 1;
+	// public static final int RIGHT_Y_AXIS = 2;
+	// public static final int RIGHT_X_AXIS = 3;
+
+    // public static final int LEFT_Z_BUTTON = 2;
+
+    // private static final double DEADZONE = 0.1;
+
+    // private Joystick stick;
+
+    /**
+   * Construct an instance of a controller.
+   *
+   * @param port The port index on the Driver Station that the controller is plugged into.
+   */
+  public Nunchuks(final int port) {
+    super(port);
+
+    HAL.report(tResourceType.kResourceType_XboxController, port + 1);
+  }
+
+	// /**
+    //  * Add your docs here.
+    //  */
+	// public Nunchuks(int portNumber){
+	// 	stick = new Joystick(portNumber);
+	// }
+
+     /**
+   * Get the X axis value of left side of the controller.
+   *
+   * @return The axis value.
+   */
+  public double getLeftX() {
+    return getRawAxis(Axis.kLeftX.value);
+  }
+
+  /**
+   * Get the X axis value of right side of the controller.
+   *
+   * @return The axis value.
+   */
+  public double getRightX() {
+    return getRawAxis(Axis.kRightX.value);
+  }
+
+  /**
+   * Get the Y axis value of left side of the controller.
+   *
+   * @return The axis value.
+   */
+  public double getLeftY() {
+    return getRawAxis(Axis.kLeftY.value);
+  }
+
+  /**
+   * Get the Y axis value of right side of the controller.
+   *
+   * @return The axis value.
+   */
+  public double getRightY() {
+    return getRawAxis(Axis.kRightY.value);
+  }
+
+    /**
+   * Read the value of the B button on the controller.
+   *
+   * @return The state of the button.
+   */
+  public boolean getLeftZButton() {
+    return getRawButton(Button.kLeftZ.value);
+  }
+}