mirror of
https://github.com/Astatin3/Vision-Minibot.git
synced 2026-06-09 08:38:05 -06:00
Initial commit
This commit is contained in:
Michael Mikovsky
@@ -0,0 +1,27 @@
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package frc4388.utility.controller;
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import static frc4388.robot.Constants.OIConstants.LEFT_AXIS_DEADBAND;
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import edu.wpi.first.math.geometry.Translation2d;
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import edu.wpi.first.wpilibj.XboxController;
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public class DeadbandedXboxController extends XboxController {
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public DeadbandedXboxController(int port) { super(port); }
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@Override public double getLeftX() { return getLeft().getX(); }
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@Override public double getLeftY() { return getLeft().getY(); }
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@Override public double getRightX() { return getRight().getX(); }
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@Override public double getRightY() { return getRight().getY(); }
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public Translation2d getLeft() { return skewToDeadzonedCircle(super.getLeftX(), super.getLeftY()); }
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public Translation2d getRight() { return skewToDeadzonedCircle(-super.getRightX(), super.getRightY()); }
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public static Translation2d skewToDeadzonedCircle(double x, double y) {
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Translation2d translation2d = new Translation2d(x, y);
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double magnitude = translation2d.getNorm();
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if (magnitude < LEFT_AXIS_DEADBAND) return new Translation2d(0,0);
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return translation2d;
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}
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}
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@@ -0,0 +1,21 @@
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package frc4388.utility.controller;
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/**
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* Add your docs here.
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*/
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public interface IHandController {
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public double getLeftXAxis();
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public double getLeftYAxis();
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public double getRightXAxis();
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public double getRightYAxis();
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public double getLeftTriggerAxis();
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public double getRightTriggerAxis();
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public int getDpadAngle();
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}
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@@ -0,0 +1,145 @@
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package frc4388.utility.controller;
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import edu.wpi.first.wpilibj.GenericHID;
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/**
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* A virtual controller that can be bound like an standard controller.
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* @author Zachary Wilke
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*/
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public class VirtualController extends GenericHID {
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private short m_buttonStates = 0;
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private short m_buttonStatesLastFrame = 0;
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private double[] m_axes = new double[6];
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private short[] m_pov = new short[1];
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/**
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* Create an virtual controller
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* @param port virtual port (merely a formality).
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*/
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public VirtualController(int port) {
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super(port);
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}
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/**
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* Set the curent inputs to the new frames.
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* @param axes joystick axes, (i.e. joysticks and triggers).
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* @param buttonFlags the bit packed button states.
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* @param pov the array of dpads.
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*/
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public void setFrame(double[] axes, short buttonFlags, short[] pov) {
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m_axes = axes;
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setOutputs(buttonFlags);
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m_pov = pov;
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}
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/**
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* Zero outs the controls.
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*/
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public void zeroControls() {
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m_axes = new double[6];
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m_buttonStates = 0;
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m_buttonStatesLastFrame = 0;
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m_pov = new short[] {-1};
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}
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/**
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* Gets the value of a bitflag from an int
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* @param value int to search
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* @param index index of bit
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* @return if the bit is set
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*/
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public static boolean getFlag(int value, int index) {
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return ((value & 1 << index) != 0);
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}
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@Override
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public boolean getRawButton(int button) { // man why are buttons indexed at 1.
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return getFlag(m_buttonStates, button - 1);
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}
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@Override
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public boolean getRawButtonPressed(int button) {
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return (!getFlag(m_buttonStatesLastFrame, button - 1) && getRawButton(button));
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}
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@Override
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public boolean getRawButtonReleased(int button) {
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return (getFlag(m_buttonStatesLastFrame, button - 1) && !getRawButton(button));
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}
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@Override
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public double getRawAxis(int axis) {
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return m_axes[axis];
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}
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@Override
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public int getPOV(int pov) {
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return m_pov[pov];
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}
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@Override
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public int getAxisCount() {
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return m_axes.length;
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}
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@Override
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public int getPOVCount() {
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return m_pov.length;
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}
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@Override
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public int getButtonCount() {
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return 10;
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}
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@Override
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public boolean isConnected() {
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return true;
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}
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@Override
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public HIDType getType() {
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return HIDType.kXInputGamepad;
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}
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@Override
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public String getName() {
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return "Virtual Controller";
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}
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@Override
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public int getAxisType(int axis) {
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return 1; /* ! Warning, does not return accurate data.
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Hopefully this isn't a problem */
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}
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/**
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* Use {@link VirtualController#setFrame} or {@link VirtualController#setOutputs}.
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* this is an no-op overide.
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*/
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@Override
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public void setOutput(int outputNumber, boolean value) {
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// do not use
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//m_buttonStatesLastFrame[outputNumber - 1] = m_buttonStates[outputNumber - 1];
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//m_buttonStates[outputNumber - 1] = value;
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}
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/**
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* Set buttons from a packed int, if you want to set joysticks and dpad use {@link VirtualController#SetFrame}
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*/
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@Override
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public void setOutputs(int value) {
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m_buttonStatesLastFrame = m_buttonStates;
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m_buttonStates = (short) value;
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}
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/**
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* Why are you Setting rumble on an virtual controller?
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* @param type the rumble type (even though it won't do anything)
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* @param value the rumble strength (always multiplyed by 0.0)
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*/
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@Override
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public void setRumble(RumbleType type, double value) {
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System.out.println("Why are you Setting rumble on an virtual controller?");
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}
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}
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@@ -0,0 +1,218 @@
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package frc4388.utility.controller;
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import edu.wpi.first.wpilibj.Joystick;
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/**
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* This is a wrapper for the WPILib Joystick class that represents an XBox
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* controller.
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* @author frc1675
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*/
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public class XboxController implements IHandController
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{
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public static final int LEFT_X_AXIS = 0;
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public static final int LEFT_Y_AXIS = 1;
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public static final int LEFT_TRIGGER_AXIS = 2;
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public static final int RIGHT_TRIGGER_AXIS = 3;
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public static final int RIGHT_X_AXIS = 4;
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public static final int RIGHT_Y_AXIS = 5;
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public static final int LEFT_RIGHT_DPAD_AXIS = 6;
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public static final int TOP_BOTTOM_DPAD_AXIS = 6;
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public static final int A_BUTTON = 1;
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public static final int B_BUTTON = 2;
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public static final int X_BUTTON = 3;
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public static final int Y_BUTTON = 4;
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public static final int LEFT_BUMPER_BUTTON = 5;
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public static final int RIGHT_BUMPER_BUTTON = 6;
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public static final int BACK_BUTTON = 7;
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public static final int START_BUTTON = 8;
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public static final int LEFT_JOYSTICK_BUTTON = 9;
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public static final int RIGHT_JOYSTICK_BUTTON = 10;
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private static final double LEFT_DPAD_TOLERANCE = -0.9;
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private static final double RIGHT_DPAD_TOLERANCE = 0.9;
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private static final double BOTTOM_DPAD_TOLERANCE = -0.9;
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private static final double TOP_DPAD_TOLERANCE = 0.9;
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private static final double LEFT_TRIGGER_TOLERANCE = 0.5;
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private static final double RIGHT_TRIGGER_TOLERANCE = 0.5;
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private static final double RIGHT_AXIS_UP_TOLERANCE = -0.9;
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private static final double RIGHT_AXIS_DOWN_TOLERANCE = 0.9;
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private static final double RIGHT_AXIS_RIGHT_TOLERANCE = 0.9;
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private static final double RIGHT_AXIS_LEFT_TOLERANCE = -0.9;
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private static final double LEFT_AXIS_UP_TOLERANCE = -0.9;
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private static final double LEFT_AXIS_DOWN_TOLERANCE = 0.9;
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private static final double LEFT_AXIS_RIGHT_TOLERANCE = 0.9;
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private static final double LEFT_AXIS_LEFT_TOLERANCE = -0.9;
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private static final double DEADZONE = 0.1;
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private Joystick m_stick;
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/**
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* Add your docs here.
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*/
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public XboxController(int portNumber){
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m_stick = new Joystick(portNumber);
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}
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/**
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* Add your docs here.
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*/
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public Joystick getJoyStick() {
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return m_stick;
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}
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/**
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* Checks if the input falls within the deadzone.
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* @param input from an axis on the controller
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* @return true if input falls in deadzone, false if input falls outside deadzone
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*/
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private boolean inDeadZone(double input){
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return (Math.abs(input) < DEADZONE);
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}
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/**
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* Updates an input to have a deadzone around the 0 position
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* @param input from an axis on the controller
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* @return updated input
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*/
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private double getAxisWithDeadZoneCheck(double input){
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if(inDeadZone(input)){
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return 0.0;
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} else {
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return input;
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}
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}
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public boolean getAButton(){
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return m_stick.getRawButton(A_BUTTON);
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}
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public boolean getXButton(){
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return m_stick.getRawButton(X_BUTTON);
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}
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public boolean getBButton(){
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return m_stick.getRawButton(B_BUTTON);
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}
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public boolean getYButton(){
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return m_stick.getRawButton(Y_BUTTON);
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}
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public boolean getBackButton(){
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return m_stick.getRawButton(BACK_BUTTON);
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}
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public boolean getStartButton(){
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return m_stick.getRawButton(START_BUTTON);
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}
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public boolean getLeftBumperButton(){
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return m_stick.getRawButton(LEFT_BUMPER_BUTTON);
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}
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public boolean getRightBumperButton(){
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return m_stick.getRawButton(RIGHT_BUMPER_BUTTON);
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}
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public boolean getLeftJoystickButton(){
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return m_stick.getRawButton(LEFT_JOYSTICK_BUTTON);
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}
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public boolean getRightJoystickButton(){
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return m_stick.getRawButton(RIGHT_JOYSTICK_BUTTON);
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}
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public double getLeftXAxis(){
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return getAxisWithDeadZoneCheck(m_stick.getRawAxis(LEFT_X_AXIS));
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}
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public double getLeftYAxis(){
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return getAxisWithDeadZoneCheck(m_stick.getRawAxis(LEFT_Y_AXIS));
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}
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public double getRightXAxis(){
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return getAxisWithDeadZoneCheck(m_stick.getRawAxis(RIGHT_X_AXIS));
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}
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public double getRightYAxis(){
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return getAxisWithDeadZoneCheck(m_stick.getRawAxis(RIGHT_Y_AXIS));
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}
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public double getLeftTriggerAxis(){
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return getAxisWithDeadZoneCheck(m_stick.getRawAxis(LEFT_TRIGGER_AXIS));
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}
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public double getRightTriggerAxis(){
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return getAxisWithDeadZoneCheck(m_stick.getRawAxis(RIGHT_TRIGGER_AXIS));
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}
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/**
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* Get the angle input from the dpad.
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* @return -1 if nothing is pressed, or the angle of the button pressed. 0 = up, 90 = right, etc.
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*/
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public int getDpadAngle() {
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return m_stick.getPOV(0);
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}
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public boolean getDPadLeft(){
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return (m_stick.getRawAxis(LEFT_RIGHT_DPAD_AXIS) < LEFT_DPAD_TOLERANCE);
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}
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public boolean getDPadRight(){
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return (m_stick.getRawAxis(LEFT_RIGHT_DPAD_AXIS) > RIGHT_DPAD_TOLERANCE);
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}
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public boolean getDPadTop(){
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return (m_stick.getRawAxis(TOP_BOTTOM_DPAD_AXIS) < TOP_DPAD_TOLERANCE);
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}
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public boolean getDPadBottom(){
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return (m_stick.getRawAxis(TOP_BOTTOM_DPAD_AXIS) > BOTTOM_DPAD_TOLERANCE);
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}
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public boolean getLeftTrigger(){
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return (getLeftTriggerAxis() > LEFT_TRIGGER_TOLERANCE);
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}
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public boolean getRightTrigger(){
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return (getRightTriggerAxis() > RIGHT_TRIGGER_TOLERANCE);
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}
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public boolean getRightAxisUpTrigger(){
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return (getRightYAxis() < RIGHT_AXIS_UP_TOLERANCE);
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}
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public boolean getRightAxisDownTrigger(){
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return (getRightYAxis() > RIGHT_AXIS_DOWN_TOLERANCE);
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}
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public boolean getRightAxisLeftTrigger(){
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return (getRightXAxis() > RIGHT_AXIS_LEFT_TOLERANCE);
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}
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public boolean getRightAxisRightTrigger(){
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return (getRightXAxis() > RIGHT_AXIS_RIGHT_TOLERANCE);
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}
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public boolean getLeftAxisUpTrigger(){
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return (getLeftYAxis() < LEFT_AXIS_UP_TOLERANCE);
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}
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public boolean getLeftAxisDownTrigger(){
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return (getLeftYAxis() > LEFT_AXIS_DOWN_TOLERANCE);
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}
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public boolean getLeftAxisLeftTrigger(){
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return (getLeftXAxis() > LEFT_AXIS_LEFT_TOLERANCE);
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}
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public boolean getLeftAxisRightTrigger(){
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return (getLeftXAxis() > LEFT_AXIS_RIGHT_TOLERANCE);
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}
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}
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@@ -0,0 +1,68 @@
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package frc4388.utility.controller;
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//import edu.wpi.first.wpilibj2.command.button.Trigger;
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/**
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* Mapping for the Xbox controller triggers to allow triggers to be defined as
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* buttons in {@link frc4388.robot.OI}. Checks to see if the given trigger
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* exceeds a tolerance defined in {@link XboxController}.
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*/
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public class XboxTriggerButton {//extends Trigger {
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public static final int RIGHT_TRIGGER = 0;
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public static final int LEFT_TRIGGER = 1;
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public static final int RIGHT_AXIS_UP_TRIGGER = 2;
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public static final int RIGHT_AXIS_DOWN_TRIGGER = 3;
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public static final int RIGHT_AXIS_RIGHT_TRIGGER = 4;
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public static final int RIGHT_AXIS_LEFT_TRIGGER = 5;
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public static final int LEFT_AXIS_UP_TRIGGER = 6;
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public static final int LEFT_AXIS_DOWN_TRIGGER = 7;
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public static final int LEFT_AXIS_RIGHT_TRIGGER = 8;
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public static final int LEFT_AXIS_LEFT_TRIGGER = 9;
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private XboxController m_controller;
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private int m_trigger;
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/**
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* Creates a Trigger-Button mapped to a specific Xbox controller and trigger
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*/
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public XboxTriggerButton(XboxController controller, int trigger) {
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m_controller = controller;
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m_trigger = trigger;
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}
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/** {@inheritDoc} */
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// @Override
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public boolean get() {
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if (m_trigger == RIGHT_TRIGGER) {
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return m_controller.getRightTrigger();
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}
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else if (m_trigger == LEFT_TRIGGER) {
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return m_controller.getLeftTrigger();
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}
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else if (m_trigger == RIGHT_AXIS_UP_TRIGGER) {
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return m_controller.getRightAxisUpTrigger();
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}
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else if (m_trigger == RIGHT_AXIS_DOWN_TRIGGER) {
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return m_controller.getRightAxisDownTrigger();
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}
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else if (m_trigger == RIGHT_AXIS_RIGHT_TRIGGER) {
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return m_controller.getRightAxisRightTrigger();
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}
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else if (m_trigger == RIGHT_AXIS_LEFT_TRIGGER) {
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return m_controller.getRightAxisLeftTrigger();
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}
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else if (m_trigger == LEFT_AXIS_UP_TRIGGER) {
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return m_controller.getLeftAxisUpTrigger();
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}
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else if (m_trigger == LEFT_AXIS_DOWN_TRIGGER) {
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return m_controller.getLeftAxisDownTrigger();
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}
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else if (m_trigger == LEFT_AXIS_RIGHT_TRIGGER) {
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return m_controller.getLeftAxisRightTrigger();
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}
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else if (m_trigger == LEFT_AXIS_LEFT_TRIGGER) {
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return m_controller.getLeftAxisLeftTrigger();
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}
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return false;
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}
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}
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Reference in New Issue
Block a user