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/*----------------------------------------------------------------------------*/
/* 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) {}
}
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