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Diffstat (limited to 'src/org/usfirst/frc/team4272/robotlib/Xbox360Controller.java')
| -rw-r--r-- | src/org/usfirst/frc/team4272/robotlib/Xbox360Controller.java | 251 |
1 files changed, 251 insertions, 0 deletions
diff --git a/src/org/usfirst/frc/team4272/robotlib/Xbox360Controller.java b/src/org/usfirst/frc/team4272/robotlib/Xbox360Controller.java new file mode 100644 index 0000000..d04fa23 --- /dev/null +++ b/src/org/usfirst/frc/team4272/robotlib/Xbox360Controller.java @@ -0,0 +1,251 @@ +/*----------------------------------------------------------------------------*/ +/* Copyright (c) FIRST 2008-2012. All Rights Reserved. */ +/* Copyright (c) Luke Shumaker 2015. 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 org.usfirst.frc.team4272.robotlib; + +import edu.wpi.first.wpilibj.Joystick; + +/** + * Handle input from a wired Xbox 360 controller connected to the + * Driver Station. + */ +public class Xbox360Controller extends Joystick { + /* Constants ************************************************/ + + /** + * Represents an analog axis on an Xbox 360 controller. + */ + public static enum Axis { + LX(0), LY(1), /** left trigger */ LT(2), + RX(4), RY(5), /** right trigger */ RT(3), + /** D-Pad X */ DX(6), /** D-Pad Y */ DY(7); + + private final int id; + private Axis(int id) { this.id = id; } + public int getId() { return id; } + } + + /** + * Represents a digital button on Xbox 360 controller. + */ + public static enum Button { + A(0), B(1), + X(2), Y(3), + /** left bumper */ LB(4), /** right bumper */RB( 5), + Back(6), Start(7), /*Home(8),*/ + /** left thumb */ LT(8), /** right thumb */ RT(9); + + public final int id; + private Button(int id) { this.id = id+1; } + } + + /* Constructor **********************************************/ + + /** + * Construct an instance of a joystick. + * The joystick index is the USB port on the drivers station. + * + * @param port The port on the driver station that the joystick is plugged into. + */ + public Xbox360Controller(final int port) { + super(port); + } + + /* Core functions *******************************************/ + + /** + * Get the value of an axis base on an enumerated type. + * + * @param axis The axis to read. + * @return The value of the axis. + */ + public double getAxis(Axis axis) { + return getRawAxis(axis.id); + } + + /** + * Get buttons based on an enumerated type. + * + * @param button The button to read. + * @return The state of the button. + */ + public boolean getButton(Button button) { + return getRawButton(button.id); + } + + + /* The actual code is done. The rest is boilerplate. See, + * this is why Java is terrible. Just 30% of the file + * actually doing useful stuff, the rest just filling + * interfaces. */ + /* Stupid little wrappers ***********************************/ + + /** + * Get the X value of a thumb-stick. + * + * @param hand Left stick or right? + * @return The X value of the joystick. + */ + public double getX(final Hand hand) { + if (hand.value == Hand.kLeft.value) + return getAxis(Axis.LX); + if (hand.value == Hand.kRight.value) + return getAxis(Axis.RX); + return 0.0; + } + + /** + * Get the Y value of a thumb-stick. + + * @param hand Left stick or right? + * @return The Y value of the joystick. + */ + public double getY(final Hand hand) { + if (hand.value == Hand.kLeft.value) + return getAxis(Axis.LY); + if (hand.value == Hand.kRight.value) + return getAxis(Axis.RY); + return 0.0; + } + + /** + * Get the value of a trigger. + * + * @param hand Left trigger or right? + * @return The trigger value. + */ + public double getZ(final Hand hand) { + if (hand.value == Hand.kLeft.value) + return getAxis(Axis.LT); + if (hand.value == Hand.kRight.value) + return getAxis(Axis.RT); + return 0.0; + } + + /** + * Get the state of a bumper. + * + * @param hand Left trigger or right? + * @return the state of the bumper. + */ + public boolean getBumper(Hand hand) { + if (hand.value == Hand.kLeft.value) + return getButton(Button.LB); + if (hand.value == Hand.kRight.value) + return getButton(Button.RB); + return false; + } + + /** + * Get the state of a thumb-stick button. + * + * @param hand Left trigger or right? + * @return the state of the button. + */ + public boolean getTop(Hand hand) { + if (hand.value == Hand.kLeft.value) + return getButton(Button.LT); + if (hand.value == Hand.kRight.value) + return getButton(Button.RB); + return false; + } + + /** + * Get the state of a trigger; whether it is more than + * half-way pressed or not. + * + * @param hand Left trigger or right? + * @return The state of the trigger. + */ + public boolean getTrigger(Hand hand) { + return getZ(hand) > 0.75; + } + + /** + * Get the magnitude of the direction vector formed by the thumb-stick's + * current position relative to its origin + * + * @return The magnitude of the direction vector + */ + public double getMagnitude(Hand hand) { + return Math.sqrt(Math.pow(getX(hand), 2) + Math.pow(getY(hand), 2)); + } + + public double getMagnitude() { + return getMagnitude(Hand.kRight); + } + + /** + * Get the direction of the vector formed by the thumb-stick and its origin + * in radians + * + * @return The direction of the vector in radians + */ + public double getDirectionRadians(Hand hand) { + return Math.atan2(getX(hand), -getY(hand)); + } + + public double getDirectionRadians() { + return getDirectionRadians(Hand.kRight); + } + + /** + * Get the direction of the vector formed by the thumb-stick and its origin + * in degrees + * + * uses acos(-1) to represent Pi due to absence of readily accessable Pi + * constant in C++ + * + * @return The direction of the vector in degrees + */ + public double getDirectionDegrees(Hand hand) { + return Math.toDegrees(getDirectionRadians(hand)); + } + + public double getDirectionDegrees() { + return Math.toDegrees(getDirectionRadians(Hand.kRight)); + } + + + /* Unused wrappers for GenericHID/Joystick ******************/ + + /** + * This method is only here to complete the GenericHID interface. + * + * @return Always 0.0 + */ + public double getTwist() { + return 0.0; + } + + /** + * This method is only here to complete the GenericHID interface. + * + * @return Always 0.0 + */ + public double getThrottle() { + return 0.0; + } + + /** + * This method is only here to complete the Joystick interface. + * + * @param axis unused + * @return Always 0 + */ + public int getAxisChannel(AxisType axis) { + return 0; + } + + /** + * This method is only here to complete the Joystick interface. + * + * @param axis unused + * @param channel unused + */ + public void setAxisChannel(AxisType axis, int channel) {} +} |