Merge branch 'virtualController' into shooter-test

src/main/java/frc4388/utility/DataUtils.java

@@ -0,0 +1,35 @@
+package frc4388.utility;
+
+import java.nio.ByteBuffer;
+
+public class DataUtils {
+    public static byte[] doubleToByteArray(double value) {
+        byte[] bytes = new byte[8];
+        ByteBuffer.wrap(bytes).putDouble(value);
+        return bytes;
+    }
+    
+    public static double byteArrayToDouble(byte[] bytes) {
+        return ByteBuffer.wrap(bytes).getDouble();
+    }
+
+    public static byte[] intToByteArray(int value) {
+        byte[] bytes = new byte[4];
+        ByteBuffer.wrap(bytes).putInt(value);
+        return bytes;
+    }
+    
+    public static int byteArrayToInt(byte[] bytes) {
+        return ByteBuffer.wrap(bytes).getInt();
+    }
+
+    public static byte[] shortToByteArray(short value) {
+        byte[] bytes = new byte[2];
+        ByteBuffer.wrap(bytes).putShort(value);
+        return bytes;
+    }
+    
+    public static short byteArrayToShort(byte[] bytes) {
+        return ByteBuffer.wrap(bytes).getShort();
+    }
+}

src/main/java/frc4388/utility/UtilityStructs.java

@@ -13,4 +13,14 @@ public class UtilityStructs {
     
         public long timedOffset = 0;
     }
+    public static class AutoRecordingControllerFrame {
+        public double[] axes = new double[6];
+        public short button = 0;
+        public short[] POV = new short[1];
+
+    }
+    public static class AutoRecordingFrame {
+        public AutoRecordingControllerFrame[] controllerFrames = new AutoRecordingControllerFrame[2];
+        public int timeStamp;
+    }
 }

src/main/java/frc4388/utility/configurable/ConfigurableDouble.java

@@ -0,0 +1,23 @@
+package frc4388.utility.configurable;
+
+import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
+
+public class ConfigurableDouble {
+    private double defualtValue;
+    private String name;
+
+    /**
+     * Creates an new ConfigurableDouble through Smart Dashboard.
+     * @param name the name of the Smart Dashboard key.
+     * @param defualtValue the initilization value
+     */
+    public ConfigurableDouble(String name, double defualtValue) {
+        this.name = name;
+        this.defualtValue = defualtValue;
+        SmartDashboard.putNumber(name, defualtValue);
+    }
+
+    public double get() {
+        return SmartDashboard.getNumber(name, defualtValue);
+    }
+}

src/main/java/frc4388/utility/configurable/ConfigurableString.java

@@ -0,0 +1,23 @@
+package frc4388.utility.configurable;
+
+import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
+
+public class ConfigurableString {
+    private String defualtValue;
+    private String name;
+
+    /**
+     * Creates an new ConfigurableString through Smart Dashboard.
+     * @param name the name of the Smart Dashboard key.
+     * @param defualtValue the initilization value
+     */
+    public ConfigurableString(String name, String defualtValue) {
+        this.name = name;
+        this.defualtValue = defualtValue;
+        SmartDashboard.putString(name, defualtValue);
+    }
+
+    public String get() {
+        return SmartDashboard.getString(name, defualtValue);
+    }
+}

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

@@ -0,0 +1,110 @@
+package frc4388.utility.controller;
+
+import edu.wpi.first.wpilibj.GenericHID;
+
+public class VirtualController extends GenericHID {
+    private short m_buttonStates = 0; 
+    private short m_buttonStatesLastFrame = 0; 
+    private double[] m_axes = new double[6];
+    private short[] m_pov = new short[1];
+
+    public VirtualController(int port) {
+        super(port);
+    }
+
+    public void setFrame(double[] axes, short buttonFlags, short[] pov) {
+        m_axes = axes;
+        setOutputs(buttonFlags);
+        m_pov = pov;
+    }
+
+    public void zeroControls() {
+        m_axes = new double[6];
+        m_buttonStates = 0;
+        m_buttonStatesLastFrame = 0;
+        m_pov = new short[1];
+    }
+
+    public static boolean getFlag(int value, int index) {
+        return ((value & 1 << index) != 0);
+    }
+    
+    @Override
+    public boolean getRawButton(int button) { // man why are buttons indexed at 1.
+        return getFlag(m_buttonStates, button - 1);
+    }
+
+    @Override
+    public boolean getRawButtonPressed(int button) {  
+        return (!getFlag(m_buttonStatesLastFrame, button - 1) && getRawButton(button));
+    }
+    
+    @Override
+    public boolean getRawButtonReleased(int button) {
+        return (getFlag(m_buttonStatesLastFrame, button - 1) && !getRawButton(button));
+    }
+
+    @Override
+    public double getRawAxis(int axis) {
+        return m_axes[axis];
+    }
+    
+    @Override
+    public int getPOV(int pov) {
+        return m_pov[pov];
+    }
+
+    @Override
+    public int getAxisCount() {
+        return m_axes.length;
+    }
+
+    @Override
+    public int getPOVCount() {
+        return m_pov.length;
+    }
+
+    @Override
+    public int getButtonCount() {
+        return 10;
+    }
+
+    @Override
+    public boolean isConnected() {
+        return true;
+    }
+    
+    @Override
+    public HIDType getType() {
+        return HIDType.kXInputGamepad;
+    }
+
+    @Override
+    public String getName() {
+        return "Virtual Controller";
+    }
+
+    @Override
+    public int getAxisType(int axis) {
+        return 1; /* ! Warning, does not return accurate data.
+                  Hopefully this isn't a problem            */
+    }
+
+    @Override
+    public void setOutput(int outputNumber, boolean value) {
+        // do not use
+        //m_buttonStatesLastFrame[outputNumber - 1] = m_buttonStates[outputNumber - 1];
+        //m_buttonStates[outputNumber - 1] = value;
+    }
+
+    @Override
+    public void setOutputs(int value) {
+        m_buttonStatesLastFrame = m_buttonStates;
+        m_buttonStates = (short) value;
+    }
+
+    @Override
+    public void setRumble(RumbleType type, double value) {
+        System.out.println("Why are you Setting rumble on an virtual controller?");
+    }
+}