Initial commit

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

@@ -0,0 +1,218 @@
+package frc4388.utility.controller;
+
+import edu.wpi.first.wpilibj.Joystick;
+
+/**
+ * This is a wrapper for the WPILib Joystick class that represents an XBox 
+ * controller.
+ * @author frc1675
+ */
+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 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;
+
+	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 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 DEADZONE = 0.1;
+
+	private Joystick m_stick;
+
+	/**
+     * Add your docs here.
+     */
+	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);
+	}
+
+	/**
+	 * 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 getXButton(){
+		return m_stick.getRawButton(X_BUTTON);    
+	}
+
+	public boolean getBButton(){
+		return m_stick.getRawButton(B_BUTTON);
+	}
+
+	public boolean getYButton(){
+		return m_stick.getRawButton(Y_BUTTON);
+	} 
+
+	public boolean getBackButton(){
+		return m_stick.getRawButton(BACK_BUTTON);
+	}
+
+	public boolean getStartButton(){
+		return m_stick.getRawButton(START_BUTTON);
+	} 
+
+	public boolean getLeftBumperButton(){
+		return m_stick.getRawButton(LEFT_BUMPER_BUTTON);
+	}
+
+	public boolean getRightBumperButton(){
+		return m_stick.getRawButton(RIGHT_BUMPER_BUTTON);
+	}
+
+	public boolean getLeftJoystickButton(){
+		return m_stick.getRawButton(LEFT_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 getLeftYAxis(){
+		return getAxisWithDeadZoneCheck(m_stick.getRawAxis(LEFT_Y_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 getLeftTriggerAxis(){
+		return getAxisWithDeadZoneCheck(m_stick.getRawAxis(LEFT_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);
+	}
+
+	public boolean getDPadLeft(){
+      return (m_stick.getRawAxis(LEFT_RIGHT_DPAD_AXIS) < LEFT_DPAD_TOLERANCE);
+  	}
+
+  	public boolean getDPadRight(){
+      return (m_stick.getRawAxis(LEFT_RIGHT_DPAD_AXIS) > RIGHT_DPAD_TOLERANCE);
+  	}
+
+  	public boolean getDPadTop(){
+      return (m_stick.getRawAxis(TOP_BOTTOM_DPAD_AXIS) < TOP_DPAD_TOLERANCE);
+  	}
+
+  	public boolean getDPadBottom(){
+      return (m_stick.getRawAxis(TOP_BOTTOM_DPAD_AXIS) > BOTTOM_DPAD_TOLERANCE);
+  	}
+
+	public boolean getLeftTrigger(){
+		return (getLeftTriggerAxis() > LEFT_TRIGGER_TOLERANCE);
+	}
+
+	public boolean getRightTrigger(){
+		return (getRightTriggerAxis() > RIGHT_TRIGGER_TOLERANCE);
+	}   
+
+	public boolean getRightAxisUpTrigger(){
+		return (getRightYAxis() < RIGHT_AXIS_UP_TOLERANCE);
+	}   
+
+	public boolean getRightAxisDownTrigger(){
+		return (getRightYAxis() > RIGHT_AXIS_DOWN_TOLERANCE);
+	}   
+
+	public boolean getRightAxisLeftTrigger(){
+		return (getRightXAxis() > RIGHT_AXIS_LEFT_TOLERANCE);
+	}   
+
+	public boolean getRightAxisRightTrigger(){
+		return (getRightXAxis() > RIGHT_AXIS_RIGHT_TOLERANCE);
+	}   
+
+	public boolean getLeftAxisUpTrigger(){
+		return (getLeftYAxis() < LEFT_AXIS_UP_TOLERANCE);
+	}   
+
+	public boolean getLeftAxisDownTrigger(){
+		return (getLeftYAxis() > LEFT_AXIS_DOWN_TOLERANCE);
+	}   
+
+	public boolean getLeftAxisLeftTrigger(){
+		return (getLeftXAxis() > LEFT_AXIS_LEFT_TOLERANCE);
+	}   
+
+	public boolean getLeftAxisRightTrigger(){
+		return (getLeftXAxis() > LEFT_AXIS_RIGHT_TOLERANCE);
+	}
+}