Change package name and add Xbox360 controller code

src/main/java/frc4388/controller/IHandController.java

@@ -0,0 +1,18 @@
+package frc4388.controller;
+
+public interface IHandController {
+
+	public double getLeftXAxis();
+
+	public double getLeftYAxis();
+
+	public double getRightXAxis();
+	
+	public double getRightYAxis();
+
+	public double getLeftTriggerAxis();
+
+	public double getRightTriggerAxis();
+
+	public int getDpadAngle();
+}

src/main/java/frc4388/controller/XBoxTriggerButton.java

@@ -0,0 +1,61 @@
+package frc4388.controller;
+
+import frc4388.controller.XboxController;
+
+import edu.wpi.first.wpilibj.buttons.Button;
+
+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;
+	public static final int RIGHT_AXIS_DOWN_TRIGGER = 3;
+	public static final int RIGHT_AXIS_RIGHT_TRIGGER = 4;
+	public static final int RIGHT_AXIS_LEFT_TRIGGER = 5;
+	public static final int LEFT_AXIS_UP_TRIGGER = 6;
+	public static final int LEFT_AXIS_DOWN_TRIGGER = 7;
+	public static final int LEFT_AXIS_RIGHT_TRIGGER = 8;
+	public static final int LEFT_AXIS_LEFT_TRIGGER = 9;
+
+	private XboxController m_controller;
+	private int m_trigger;
+
+	public XBoxTriggerButton(XboxController controller, int trigger) {
+		m_controller = controller;
+		m_trigger = trigger;
+	}
+
+	public boolean get() {
+		if (m_trigger == RIGHT_TRIGGER) {
+			return m_controller.getRightTrigger();
+		}
+		else if (m_trigger == LEFT_TRIGGER) {
+			return m_controller.getLeftTrigger();
+		}
+		else if (m_trigger == RIGHT_AXIS_UP_TRIGGER) {
+			return m_controller.getRightAxisUpTrigger();
+		}
+		else if (m_trigger == RIGHT_AXIS_DOWN_TRIGGER) {
+			return m_controller.getRightAxisDownTrigger();
+		}
+		else if (m_trigger == RIGHT_AXIS_RIGHT_TRIGGER) {
+			return m_controller.getRightAxisRightTrigger();
+		}
+		else if (m_trigger == RIGHT_AXIS_LEFT_TRIGGER) {
+			return m_controller.getRightAxisLeftTrigger();
+		}
+		else if (m_trigger == LEFT_AXIS_UP_TRIGGER) {
+			return m_controller.getLeftAxisUpTrigger();
+		}
+		else if (m_trigger == LEFT_AXIS_DOWN_TRIGGER) {
+			return m_controller.getLeftAxisDownTrigger();
+		}
+		else if (m_trigger == LEFT_AXIS_RIGHT_TRIGGER) {
+			return m_controller.getLeftAxisRightTrigger();
+		}
+		else if (m_trigger == LEFT_AXIS_LEFT_TRIGGER) {
+			return m_controller.getLeftAxisLeftTrigger();
+		}
+		return false;
+	}
+}

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

@@ -0,0 +1,204 @@
+package frc4388.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 stick;
+
+	public XboxController(int portNumber){
+		stick = new Joystick(portNumber);
+	}
+
+	public Joystick getJoyStick() {
+		return stick;
+	}
+	
+	private boolean inDeadZone(double input){
+		boolean inDeadZone; 
+		if(Math.abs(input) < DEADZONE){
+			inDeadZone = true;
+		}else{
+			inDeadZone = false;
+		}
+		return inDeadZone;
+	}
+
+	private double getAxisWithDeadZoneCheck(double input){
+		if(inDeadZone(input)){
+			input = 0.0;       
+		}
+		return input; 
+	}
+
+	public boolean getAButton(){
+		return stick.getRawButton(A_BUTTON);
+	}
+
+	public boolean getXButton(){
+		return stick.getRawButton(X_BUTTON);    
+	}
+
+	public boolean getBButton(){
+		return stick.getRawButton(B_BUTTON);
+	}
+
+	public boolean getYButton(){
+		return stick.getRawButton(Y_BUTTON);
+	} 
+
+	public boolean getBackButton(){
+		return stick.getRawButton(BACK_BUTTON);
+	}
+
+	public boolean getStartButton(){
+		return stick.getRawButton(START_BUTTON);
+	} 
+
+	public boolean getLeftBumperButton(){
+		return stick.getRawButton(LEFT_BUMPER_BUTTON);
+	}
+
+	public boolean getRightBumperButton(){
+		return stick.getRawButton(RIGHT_BUMPER_BUTTON);
+	}
+
+	public boolean getLeftJoystickButton(){
+		return stick.getRawButton(LEFT_JOYSTICK_BUTTON);
+	}
+
+	public boolean getRightJoystickButton(){
+		return stick.getRawButton(RIGHT_JOYSTICK_BUTTON);
+	}
+
+	public double getLeftXAxis(){         
+		return getAxisWithDeadZoneCheck(stick.getRawAxis(LEFT_X_AXIS)); 
+	}
+
+	public double getLeftYAxis(){
+		return getAxisWithDeadZoneCheck(stick.getRawAxis(LEFT_Y_AXIS));
+	}
+
+	public double getRightXAxis(){
+		return getAxisWithDeadZoneCheck(stick.getRawAxis(RIGHT_X_AXIS));
+	}
+
+	public double getRightYAxis(){
+		return getAxisWithDeadZoneCheck(stick.getRawAxis(RIGHT_Y_AXIS)); 
+	}
+
+	public double getLeftTriggerAxis(){
+		return getAxisWithDeadZoneCheck(stick.getRawAxis(LEFT_TRIGGER_AXIS)); 
+	}
+
+	public double getRightTriggerAxis(){
+		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.*/
+	public int getDpadAngle() {
+		return stick.getPOV();
+	}
+
+	public boolean getDPadLeft(){
+      return (stick.getRawAxis(LEFT_RIGHT_DPAD_AXIS) < LEFT_DPAD_TOLERANCE);
+  	}
+
+  	public boolean getDPadRight(){
+      return (stick.getRawAxis(LEFT_RIGHT_DPAD_AXIS) > RIGHT_DPAD_TOLERANCE);
+  	}
+
+  	public boolean getDPadTop(){
+      return (stick.getRawAxis(TOP_BOTTOM_DPAD_AXIS) < TOP_DPAD_TOLERANCE);
+  	}
+
+  	public boolean getDPadBottom(){
+      return (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);
+	}
+}

src/main/java/frc4388/robot/Main.java

@@ -0,0 +1,29 @@
+/*----------------------------------------------------------------------------*/
+/* 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;
+
+import edu.wpi.first.wpilibj.RobotBase;
+
+/**
+ * Do NOT add any static variables to this class, or any initialization at all.
+ * Unless you know what you are doing, do not modify this file except to
+ * change the parameter class to the startRobot call.
+ */
+public final class Main {
+  private Main() {
+  }
+
+  /**
+   * Main initialization function. Do not perform any initialization here.
+   *
+   * <p>If you change your main robot class, change the parameter type.
+   */
+  public static void main(String... args) {
+    RobotBase.startRobot(Robot::new);
+  }
+}

src/main/java/frc4388/robot/OI.java

@@ -0,0 +1,42 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2017-2018 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;
+
+/**
+ * This class is the glue that binds the controls on the physical operator
+ * interface to the commands and command groups that allow control of the robot.
+ */
+public class OI {
+  //// CREATING BUTTONS
+  // One type of button is a joystick button which is any button on a
+  //// joystick.
+  // You create one by telling it which joystick it's on and which button
+  // number it is.
+  // Joystick stick = new Joystick(port);
+  // Button button = new JoystickButton(stick, buttonNumber);
+
+  // There are a few additional built in buttons you can use. Additionally,
+  // by subclassing Button you can create custom triggers and bind those to
+  // commands the same as any other Button.
+
+  //// TRIGGERING COMMANDS WITH BUTTONS
+  // Once you have a button, it's trivial to bind it to a button in one of
+  // three ways:
+
+  // Start the command when the button is pressed and let it run the command
+  // until it is finished as determined by it's isFinished method.
+  // button.whenPressed(new ExampleCommand());
+
+  // Run the command while the button is being held down and interrupt it once
+  // the button is released.
+  // button.whileHeld(new ExampleCommand());
+
+  // Start the command when the button is released and let it run the command
+  // until it is finished as determined by it's isFinished method.
+  // button.whenReleased(new ExampleCommand());
+}

src/main/java/frc4388/robot/Robot.java

@@ -0,0 +1,131 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2017-2018 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;
+
+import edu.wpi.first.wpilibj.TimedRobot;
+import edu.wpi.first.wpilibj.command.Command;
+import edu.wpi.first.wpilibj.command.Scheduler;
+import edu.wpi.first.wpilibj.smartdashboard.SendableChooser;
+import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
+import frc4388.robot.commands.ExampleCommand;
+import frc4388.robot.subsystems.ExampleSubsystem;
+
+/**
+ * The VM is configured to automatically run this class, and to call the
+ * functions corresponding to each mode, as described in the TimedRobot
+ * documentation. If you change the name of this class or the package after
+ * creating this project, you must also update the build.gradle file in the
+ * project.
+ */
+public class Robot extends TimedRobot {
+  public static ExampleSubsystem m_subsystem = new ExampleSubsystem();
+  public static OI m_oi;
+
+  Command m_autonomousCommand;
+  SendableChooser<Command> m_chooser = new SendableChooser<>();
+
+  /**
+   * This function is run when the robot is first started up and should be
+   * used for any initialization code.
+   */
+  @Override
+  public void robotInit() {
+    m_oi = new OI();
+    m_chooser.setDefaultOption("Default Auto", new ExampleCommand());
+    // chooser.addOption("My Auto", new MyAutoCommand());
+    SmartDashboard.putData("Auto mode", m_chooser);
+  }
+
+  /**
+   * This function is called every robot packet, no matter the mode. Use
+   * this for items like diagnostics that you want ran during disabled,
+   * autonomous, teleoperated and test.
+   *
+   * <p>This runs after the mode specific periodic functions, but before
+   * LiveWindow and SmartDashboard integrated updating.
+   */
+  @Override
+  public void robotPeriodic() {
+  }
+
+  /**
+   * This function is called once each time the robot enters Disabled mode.
+   * You can use it to reset any subsystem information you want to clear when
+   * the robot is disabled.
+   */
+  @Override
+  public void disabledInit() {
+  }
+
+  @Override
+  public void disabledPeriodic() {
+    Scheduler.getInstance().run();
+  }
+
+  /**
+   * This autonomous (along with the chooser code above) shows how to select
+   * between different autonomous modes using the dashboard. The sendable
+   * chooser code works with the Java SmartDashboard. If you prefer the
+   * LabVIEW Dashboard, remove all of the chooser code and uncomment the
+   * getString code to get the auto name from the text box below the Gyro
+   *
+   * <p>You can add additional auto modes by adding additional commands to the
+   * chooser code above (like the commented example) or additional comparisons
+   * to the switch structure below with additional strings & commands.
+   */
+  @Override
+  public void autonomousInit() {
+    m_autonomousCommand = m_chooser.getSelected();
+
+    /*
+     * String autoSelected = SmartDashboard.getString("Auto Selector",
+     * "Default"); switch(autoSelected) { case "My Auto": autonomousCommand
+     * = new MyAutoCommand(); break; case "Default Auto": default:
+     * autonomousCommand = new ExampleCommand(); break; }
+     */
+
+    // schedule the autonomous command (example)
+    if (m_autonomousCommand != null) {
+      m_autonomousCommand.start();
+    }
+  }
+
+  /**
+   * This function is called periodically during autonomous.
+   */
+  @Override
+  public void autonomousPeriodic() {
+    Scheduler.getInstance().run();
+  }
+
+  @Override
+  public void teleopInit() {
+    // This makes sure that the autonomous stops running when
+    // teleop starts running. If you want the autonomous to
+    // continue until interrupted by another command, remove
+    // this line or comment it out.
+    if (m_autonomousCommand != null) {
+      m_autonomousCommand.cancel();
+    }
+  }
+
+  /**
+   * This function is called periodically during operator control.
+   */
+  @Override
+  public void teleopPeriodic() {
+    Scheduler.getInstance().run();
+  }
+
+  /**
+   * This function is called periodically during test mode.
+   */
+  @Override
+  public void testPeriodic() {
+  }
+}

src/main/java/frc4388/robot/RobotMap.java

@@ -0,0 +1,26 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2017-2018 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;
+
+/**
+ * The RobotMap is a mapping from the ports sensors and actuators are wired into
+ * to a variable name. This provides flexibility changing wiring, makes checking
+ * the wiring easier and significantly reduces the number of magic numbers
+ * floating around.
+ */
+public class RobotMap {
+  // For example to map the left and right motors, you could define the
+  // following variables to use with your drivetrain subsystem.
+  // public static int leftMotor = 1;
+  // public static int rightMotor = 2;
+
+  // If you are using multiple modules, make sure to define both the port
+  // number and the module. For example you with a rangefinder:
+  // public static int rangefinderPort = 1;
+  // public static int rangefinderModule = 1;
+}

src/main/java/frc4388/robot/commands/ExampleCommand.java

@@ -0,0 +1,48 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2017-2018 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.commands;
+
+import edu.wpi.first.wpilibj.command.Command;
+import frc4388.robot.Robot;
+
+/**
+ * An example command.  You can replace me with your own command.
+ */
+public class ExampleCommand extends Command {
+  public ExampleCommand() {
+    // Use requires() here to declare subsystem dependencies
+    requires(Robot.m_subsystem);
+  }
+
+  // Called just before this Command runs the first time
+  @Override
+  protected void initialize() {
+  }
+
+  // Called repeatedly when this Command is scheduled to run
+  @Override
+  protected void execute() {
+  }
+
+  // Make this return true when this Command no longer needs to run execute()
+  @Override
+  protected boolean isFinished() {
+    return false;
+  }
+
+  // Called once after isFinished returns true
+  @Override
+  protected void end() {
+  }
+
+  // Called when another command which requires one or more of the same
+  // subsystems is scheduled to run
+  @Override
+  protected void interrupted() {
+  }
+}

src/main/java/frc4388/robot/subsystems/ExampleSubsystem.java

@@ -0,0 +1,24 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2017-2018 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;
+
+/**
+ * An example subsystem.  You can replace me with your own Subsystem.
+ */
+public class ExampleSubsystem 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());
+  }
+}