From 2b0cad989c1b1dc00311b79397a56d7e654a0ec5 Mon Sep 17 00:00:00 2001
From: HFocus <keenandbuckley@gmail.com>
Date: Sun, 4 Aug 2019 15:58:48 -0600
Subject: [PATCH] Update documentation for Xbox Controllers

---
 .../frc4388/controller/XBoxTriggerButton.java | 15 ++++++++--
 .../frc4388/controller/XboxController.java    | 30 ++++++++++++-------
 .../java/frc4388/robot/subsystems/Drive.java  | 25 ++++++++++++++++
 3 files changed, 56 insertions(+), 14 deletions(-)
 create mode 100644 src/main/java/frc4388/robot/subsystems/Drive.java

diff --git a/src/main/java/frc4388/controller/XBoxTriggerButton.java b/src/main/java/frc4388/controller/XBoxTriggerButton.java
index ae9217e..a922fec 100644
--- a/src/main/java/frc4388/controller/XBoxTriggerButton.java
+++ b/src/main/java/frc4388/controller/XBoxTriggerButton.java
@@ -4,8 +4,12 @@ import frc4388.controller.XboxController;
 
 import edu.wpi.first.wpilibj.buttons.Button;
 
-public class XBoxTriggerButton extends Button 
-{
+/**
+ * Mapping for the Xbox controller triggers to allow triggers to be defined as
+ * buttons in {@link frc4388.robot.OI}. Checks to see if the given trigger 
+ * exceeds a tolerance defined in {@link XboxController}.
+ */
+public class XboxTriggerButton extends Button {
 	public static final int RIGHT_TRIGGER = 0;
 	public static final int LEFT_TRIGGER = 1;
 	public static final int RIGHT_AXIS_UP_TRIGGER = 2;
@@ -20,11 +24,16 @@ public class XBoxTriggerButton extends Button
 	private XboxController m_controller;
 	private int m_trigger;
 
-	public XBoxTriggerButton(XboxController controller, int trigger) {
+	/**
+	 * Creates a Trigger-Button mapped to a specific Xbox controller and trigger
+	 */
+	public XboxTriggerButton(XboxController controller, int trigger) {
 		m_controller = controller;
 		m_trigger = trigger;
 	}
 
+	/** {@inheritDoc} */
+	@Override
 	public boolean get() {
 		if (m_trigger == RIGHT_TRIGGER) {
 			return m_controller.getRightTrigger();
diff --git a/src/main/java/frc4388/controller/XboxController.java b/src/main/java/frc4388/controller/XboxController.java
index 41ac8ca..bd0582c 100644
--- a/src/main/java/frc4388/controller/XboxController.java
+++ b/src/main/java/frc4388/controller/XboxController.java
@@ -60,21 +60,26 @@ public class XboxController implements IHandController
 		return 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){
-		boolean inDeadZone; 
-		if(Math.abs(input) < DEADZONE){
-			inDeadZone = true;
-		}else{
-			inDeadZone = false;
-		}
-		return inDeadZone;
+		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)){
-			input = 0.0;       
+			return 0.0;       
+		} else {
+			return input;
 		}
-		return input; 
 	}
 
 	public boolean getAButton(){
@@ -141,9 +146,12 @@ public class XboxController implements IHandController
 		return getAxisWithDeadZoneCheck(stick.getRawAxis(RIGHT_TRIGGER_AXIS)); 
 	}
 
-	/**Returns -1 if nothing is pressed, or the angle of the button pressed 0 = up, 90 = right, etc.*/
+	/**
+	 * 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 stick.getPOV();
+		return stick.getPOV(0);
 	}
 
 	public boolean getDPadLeft(){
diff --git a/src/main/java/frc4388/robot/subsystems/Drive.java b/src/main/java/frc4388/robot/subsystems/Drive.java
new file mode 100644
index 0000000..81da6b7
--- /dev/null
+++ b/src/main/java/frc4388/robot/subsystems/Drive.java
@@ -0,0 +1,25 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2018 FIRST. All Rights Reserved.                             */
+/* Open Source Software - may be modified and shared by FRC teams. The code   */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project.                                                               */
+/*----------------------------------------------------------------------------*/
+
+package frc4388.robot.subsystems;
+
+import edu.wpi.first.wpilibj.command.Subsystem;
+import frc4388.controller.XboxTriggerButton;
+
+/**
+ * Add your docs here.
+ */
+public class Drive extends Subsystem {
+  // Put methods for controlling this subsystem
+  // here. Call these from Commands.
+
+  @Override
+  public void initDefaultCommand() {
+    // Set the default command for a subsystem here.
+    // setDefaultCommand(new MySpecialCommand());
+  }
+}