changes Noah & Thomas made

7 files changed, 137 insertions, 565 deletions

diff --git a/src/org/usfirst/frc/team4272/robot2016/Autonomous.java b/src/org/usfirst/frc/team4272/robot2016/Autonomous.java
index 756c33d..7b2194c 100644
--- a/src/org/usfirst/frc/team4272/robot2016/Autonomous.java
+++ b/src/org/usfirst/frc/team4272/robot2016/Autonomous.java
@@ -14,17 +14,11 @@ public class Autonomous {
 	}
 
 	public Control run(Control c) {
-		if (robot.armL.get()) {
-			c.arm = -0.5;
-		} else {
-			c.arm = 0;
-			robot.armE.reset();
-		}
+		
 
-		if (time.get() < 4) {
-			c.lDrive1 = c.rDrive1 = -0.4;
-		} else {
-			c.lDrive1 = c.rDrive1 = 0;
+		if (time.get() < 15) {
+		}
+		else {
 		}
 		SmartDashboard.putNumber("autoTime", time.get());
 
diff --git a/src/org/usfirst/frc/team4272/robot2016/Control.java b/src/org/usfirst/frc/team4272/robot2016/Control.java
index 40fcb5a..7713c5b 100644
--- a/src/org/usfirst/frc/team4272/robot2016/Control.java
+++ b/src/org/usfirst/frc/team4272/robot2016/Control.java
@@ -7,7 +7,14 @@ public class Control {
 	       rDrive2 = 0,
 	       fBall   = 0,
 	       bBall   = 0,
-	       arm     = 0;
-
+	       arm   = 0,
+	camRotate = 0,
+	camTilt = 0,
+	usbCam = 0,
+	climber = 0;
+	boolean PCM = true;
+	boolean PCM2 = false;
+	boolean PCM3 =true;
+	boolean PCM4 = false;
 	public Control() {}
 }
diff --git a/src/org/usfirst/frc/team4272/robot2016/HwOI.java b/src/org/usfirst/frc/team4272/robot2016/HwOI.java
index fc5cc78..00b0b05 100644
--- a/src/org/usfirst/frc/team4272/robot2016/HwOI.java
+++ b/src/org/usfirst/frc/team4272/robot2016/HwOI.java
@@ -1,11 +1,10 @@
 package org.usfirst.frc.team4272.robot2016;
 
-import org.usfirst.frc.team4272.robotlib.Xbox360Controller;
-
 import edu.wpi.first.wpilibj.Joystick;
+import edu.wpi.first.wpilibj.XboxController;
 
 public class HwOI {
 	public Joystick lStick = new Joystick(0);
 	public Joystick rStick = new Joystick(1);
-	public Xbox360Controller xbox = new Xbox360Controller(2);
+	public XboxController xbox = new XboxController(2);
 }
diff --git a/src/org/usfirst/frc/team4272/robot2016/HwRobot.java b/src/org/usfirst/frc/team4272/robot2016/HwRobot.java
index e61d87f..4555adf 100644
--- a/src/org/usfirst/frc/team4272/robot2016/HwRobot.java
+++ b/src/org/usfirst/frc/team4272/robot2016/HwRobot.java
@@ -9,8 +9,11 @@ import edu.wpi.first.wpilibj.PIDOutput;
 import edu.wpi.first.wpilibj.PIDSourceType;
 import edu.wpi.first.wpilibj.PowerDistributionPanel;
 import edu.wpi.first.wpilibj.Talon;
+import edu.wpi.first.wpilibj.Jaguar;
+import edu.wpi.first.wpilibj.Solenoid;
 
 import org.usfirst.frc.team4272.robotlib.PIDOutputSplitter;
+import org.usfirst.frc.team4272.robotlib.PIDServo;
 
 public class HwRobot {
 	/* Relay == a Spike */
@@ -33,16 +36,18 @@ public class HwRobot {
 	// naming convention: {side_letter}{Thing}{E|M (encoder/motor)}
 
 	private final PIDOutput
-	    rDriveM1 = new Talon(/*PWM*/2), /* PDP 2, 3 */
-	    rDriveM2 = new Talon(/*PWM*/4), /* PDP 4 */
+	    rDriveM1 = new Talon(/*PWM*/0), /* PDP 2, 3 */
+	    climber = new Talon(/*PWM*/3), /* PDP 4 */
 	    lDriveM1 = new Talon(/*PWM*/1), /* PDP 12, 13 */
-	    lDriveM2 = new Talon(/*PWM*/0), /* PDP 11 */
-	    armM     = new Talon(/*PWM*/8), /* PDP 15 */
-	    rfBallM  = new Talon(/*PWM*/3), /* PDP 0 */
-	    lfBallM  = new Talon(/*PWM*/9), /* PDP 14 */
-	    fBallM   = new PIDOutputSplitter(rfBallM, lfBallM),
-	    bBallM   = new Talon(/*PWM*/6); /* PDP 10, 5 */
-
+	    //lDriveM2 = new Talon(3),/*PWM*/ /* PDP 11 */
+	    //rDriveM2 = new Talon(1),
+	    //armM     = new Talon(/*PWM*/8), /* PDP 15 */
+	    //rfBallM  = new Talon(/*PWM*/4), /* PDP 0 */
+	    //lfBallM  = new Talon(/*PWM*/9), /* PDP 14 */
+	    //fBallM   = new PIDOutputSplitter(rfBallM, lfBallM),
+	    //bBallM   = new Talon(/*PWM*/6),/* PDP 10, 5 */
+	    camRotate = new PIDServo(8),
+	    camTilt = new PIDServo(9);
 	public final Encoder   armE = new Encoder(/*DIO*/0, /*DIO*/1, /*DIO*/2, true);
 	public final DigitalInput armL = new DigitalInput(/*DIO*/3);
 	public final DigitalInput ballL = new DigitalInput(/*DIO*/4);
@@ -50,22 +55,33 @@ public class HwRobot {
 	public final Encoder   lDriveE = new Encoder(/*DIO*/7,/*DIO*/8, true);
 	public final PowerDistributionPanel PDP = new PowerDistributionPanel(); /* via CAN */
 
+	public Solenoid PCM = new Solenoid(/*PCM*/ 4);
+	public Solenoid PCM2 = new Solenoid(5);
+	public Solenoid PCM3 = new Solenoid(6);
+	public Solenoid PCM4 = new Solenoid(7);
+	
 	public HwRobot() {
 		armE.setPIDSourceType(PIDSourceType.kDisplacement);
 		lDriveE.setPIDSourceType(PIDSourceType.kRate);
 		rDriveE.setPIDSourceType(PIDSourceType.kRate);
-		PDP.initTable(NetworkTable.getTable("PDP"));
+		//PDP.initTable(NetworkTable.getTable("PDP"));//
 	}
 
 	public void run(Control c) {
 		lDriveM1.pidWrite( c.lDrive1);
-		lDriveM2.pidWrite( c.lDrive2);
-		rDriveM1.pidWrite(-c.rDrive1);
-		rDriveM2.pidWrite(-c.rDrive2);
-		armM.pidWrite(c.arm * 0.5);
-		fBallM.pidWrite(-c.fBall);
-		bBallM.pidWrite(-c.bBall);
-
+		rDriveM1.pidWrite(c.rDrive1);
+		//lDriveM2.pidWrite( c.lDrive2);
+		climber.pidWrite(c.climber);
+		//rDriveM2.pidWrite(-c.rDrive2);
+		//armM.pidWrite(c.arm * 0.5);
+		//fBallM.pidWrite(-c.fBall);
+		//bBallM.pidWrite(-c.bBall);
+		camRotate.pidWrite(c.camRotate);
+		camTilt.pidWrite(c.camTilt);
+		PCM.set(c.PCM);
+		PCM2.set(c.PCM2);
+		PCM3.set(c.PCM3);
+		PCM4.set(c.PCM4);
 		SmartDashboard.putNumber("fBall", c.fBall);
 		SmartDashboard.putNumber("bBall", c.bBall);
 		SmartDashboard.putNumber("armM", c.arm);
@@ -78,7 +94,8 @@ public class HwRobot {
 		SmartDashboard.putBoolean("ballL", ballL.get());
 		SmartDashboard.putBoolean("armL", armL.get());
 
-		PDP.updateTable();
-		SmartDashboard.putData("PDP", PDP);
+		//PDP.updateTable();**//
+		//SmartDashboard.putData("PDP", PDP);//
 	}
+	
 }
diff --git a/src/org/usfirst/frc/team4272/robot2016/Teleop.java b/src/org/usfirst/frc/team4272/robot2016/Teleop.java
index 73b7b60..a085d91 100644
--- a/src/org/usfirst/frc/team4272/robot2016/Teleop.java
+++ b/src/org/usfirst/frc/team4272/robot2016/Teleop.java
@@ -2,8 +2,7 @@ package org.usfirst.frc.team4272.robot2016;
 
 import edu.wpi.first.wpilibj.Joystick;
 import edu.wpi.first.wpilibj.Timer;
-import org.usfirst.frc.team4272.robotlib.Xbox360Controller.Axis;
-import org.usfirst.frc.team4272.robotlib.Xbox360Controller.Button;
+import edu.wpi.first.wpilibj.GenericHID.Hand; 
 import org.usfirst.frc.team4272.robotlib.PushButton;
 
 public class Teleop {
@@ -12,6 +11,9 @@ public class Teleop {
 
 	private final PushButton shootButton = new PushButton();
 	private final Timer time = new Timer();
+	private double lastTime;
+	private double currentTime;
+	private boolean state = false;
 
 	public Teleop(HwRobot robot) {
 		this.robot = robot;
@@ -19,8 +21,8 @@ public class Teleop {
 	}
 
 	private static double jsScale(Joystick j) {
-		double y = -j.getY();/* +:forward; -:backward */
-		double z = -j.getZ();/* +:more-sensitive; -:less-sensitive */
+		double y = j.getY();/* +:forward; -:backward */
+		double z = j.getZ();/* +:more-sensitive; -:less-sensitive */
 		return Math.copySign(Math.pow(Math.abs(y), 2.0-z), y);
 	}
 
@@ -31,19 +33,79 @@ public class Teleop {
 	private static double oneIf(boolean b) {
 		return b ? 1 : 0;
 	}
-
+	
 	public Control run(Control control, HwOI oi) {
 		/* Drive */
-		control.lDrive1 = jsScale(oi.lStick);
+		control.lDrive1 = -jsScale(oi.lStick);
 		control.rDrive1 = jsScale(oi.rStick);
-		control.lDrive2 = oi.lStick.getTrigger() ? control.lDrive1 : 0;
-		control.rDrive2 = oi.rStick.getTrigger() ? control.rDrive1 : 0;
-		control.arm = -oi.xbox.getAxis(Axis.LY);
+		//control.lDrive2 = -jsScale(oi.lStick);
+		//control.rDrive2 = jsScale(oi.rStick);
+		if (control.PCM == true) {
+			control.PCM2 = oi.lStick.getTrigger();
+			control.PCM = oi.rStick.getTrigger();
+			}
+		if (oi.lStick.getTrigger()){
+			control.PCM2 = false;
+			control.PCM = true;
+//			SmartDashboard.putData()
+			}
+		if (oi.rStick.getTrigger()) {
+			control.PCM = false;
+			control.PCM2 = true;
+			}
+		if (oi.rStick.getRawButton(2) || oi.lStick.getRawButton(2)) { 
+			currentTime = Timer.getMatchTime();
+			if(currentTime-lastTime > 0.15){
+				state = !state;
+				lastTime = currentTime;
+			}
+			if (state){
+			control.lDrive1 = 0.5;
+			control.rDrive1 = 0;
+			}
+			else if(!state){
+				control.lDrive1 = 0;
+				control.rDrive1 = 0.5;
+			}
+			
+		}
+		
+		if(oi.xbox.getRawAxis(1) > 0.2){
+			control.climber = oi.xbox.getRawAxis(1) ;
+		}
+		
+		else if (oi.xbox.getRawAxis(1) < -0.2) {
+			control.climber = oi.xbox.getRawAxis(1);
+		}
+		else { 
+			control.climber = 0;
+		}
+		if (oi.xbox.getAButton() == true) {
+			control.PCM3 = true;
+			control.PCM4 = false;
+			}
+		if(oi.xbox.getBButton()==true) {
+			control.PCM3 = false;
+			control.PCM4 =true;
+		}
+		
+//		if(oi.xbox.getTriggerAxis(Hand.kRight/*rTrigger*/) > 0 ){
+//			control.PCM3 = false;
+//			control.PCM4 = true;
+//			}
+//		else {
+//			control.PCM3 = false;
+//			control.PCM4 =true;
+//		}
+		
+		/*control.lDrive2 = oi.lStick.getTrigger() ? control.lDrive1 : 0;
+		control.rDrive2 = oi.rStick.getTrigger() ? control.rDrive1 : 0;*/
+		control.arm = -oi.xbox.getY(Hand.kLeft);
 		if (control.arm < 0)
 			control.arm = control.arm*0.2;
 		
-		double fBall = oi.xbox.getAxis(Axis.RTrigger) - oi.xbox.getAxis(Axis.LTrigger);
-		double bBall = bound(-1, fBall, 0) + oneIf(oi.xbox.getButton(Button.A)) - oneIf(oi.xbox.getButton(Button.B));
+		double fBall = oi.xbox.getTriggerAxis(Hand.kRight) - oi.xbox.getTriggerAxis(Hand.kLeft);
+		double bBall = bound(-1, fBall, 0) + oneIf(oi.xbox.getAButton()) - oneIf(oi.xbox.getBButton());
 
 		boolean ballL = robot.ballL.get();
 		control.fBall = bound(-oneIf(ballL), fBall < 0 ? 0.5*fBall : fBall, 1);
@@ -54,16 +116,16 @@ public class Teleop {
 			robot.armE.reset();
 		}
 
-		if (oi.xbox.getButton(Button.LBumper))
+		if (oi.xbox.getBumper(Hand.kLeft))
 			control.arm = 1-(robot.armE.pidGet()/armSoftStop);
-		else if (oi.xbox.getButton(Button.RBumper))
+		else if (oi.xbox.getBumper(Hand.kRight))
 			control.arm = robot.armE.pidGet()/armSoftStop;
 
-		if (shootButton.update(oi.xbox.getButton(Button.X))) {
+		if (shootButton.update(oi.xbox.getXButton())) {
 			time.reset();
 			time.start();
 		}
-		if (oi.xbox.getButton(Button.X)) {
+		if (oi.xbox.getXButton()) {
 			if (time.get() < 0.5) {
 				control.fBall = control.bBall = -0.5;
 			} else if (time.get() < 2.5) {
@@ -74,8 +136,16 @@ public class Teleop {
 				control.fBall = 1;
 			}
 		}
+		
+		if(oi.xbox.getTriggerAxis(Hand.kRight) > 0)
+			control.camRotate = 1;
+		else if(oi.xbox.getTriggerAxis(Hand.kLeft) > 0)
+			control.camRotate = -1;
+		else
+			control.camRotate = 0;
+		control.camTilt = oi.xbox.getX(Hand.kRight);
 
-		//if (robot.armE.pidGet() > armSoftStop && control.arm > 0)
+		//if (robot.armE.piedGet() > armSoftStop && control.arm > 0)
 		//	control.arm = 0;
 
 		/* Take pictures */
diff --git a/src/org/usfirst/frc/team4272/robotlib/PIDController.java b/src/org/usfirst/frc/team4272/robotlib/PIDController.java
deleted file mode 100644
index 13f5666..0000000
--- a/src/org/usfirst/frc/team4272/robotlib/PIDController.java
+++ /dev/null
@@ -1,216 +0,0 @@
-/**
- * Copyright (c) FIRST 2008-2012. 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.
- *
- * Copyright (c) 2011-2012, 2015-2016 Luke Shumaker
- * All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions are met:
- *     * Redistributions of source code must retain the above copyright
- *       notice, this list of conditions and the following disclaimer.
- *     * Redistributions in binary form must reproduce the above copyright
- *       notice, this list of conditions and the following disclaimer in the
- *       documentation and/or other materials provided with the distribution.
- *     * Neither the name of the FIRST nor the
- *       names of its contributors may be used to endorse or promote products
- *       derived from this software without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY FIRST AND CONTRIBUTORS``AS IS'' AND ANY
- * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
- * WARRANTIES OF MERCHANTABILITY NONINFRINGEMENT AND FITNESS FOR A PARTICULAR
- * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL FIRST OR CONTRIBUTORS BE LIABLE FOR
- * ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
- * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
- * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
- * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
- * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
- * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
- *
- * @author Luke Shumaker <lukeshu@sbcglobal.net>
- */
-package org.usfirst.frc.team4272.robotlib;
-
-import edu.wpi.first.wpilibj.PIDOutput;
-import edu.wpi.first.wpilibj.PIDSource;
-import edu.wpi.first.wpilibj.SpeedController;
-//import edu.wpi.first.wpilibj.PIDController;
-
-/**
- * An enhanced variant of {@link edu.wpi.first.wpilibj.PIDController wpilibj PIDController}
- * (implements a PID Control Loop).
- * <p>
- * It is enhanced from
- * {@link edu.wpi.first.wpilibj.PIDController wpilibj PIDController}
- * in that it that also:
- * <ul>
- *  <li> implements SpeedController (and therefore PIDOutput)
- *  <li> disables self if the setpoint is NaN (see {@link PIDNanny}).
- * </ul>
- */
-public class PIDController extends edu.wpi.first.wpilibj.PIDController implements SpeedController {
-	private boolean NaNDisabled = false;
-	private boolean inverted = false;
-	public final PIDSource source;
-	public final PIDOutput output;
-
-	/**
-	 * Allocate a PID object with the given constants for P, I, D, and F
-	 *$
-	 * @param Kp the proportional coefficient
-	 * @param Ki the integral coefficient
-	 * @param Kd the derivative coefficient
-	 * @param Kf the feed forward term
-	 * @param source The PIDSource object that is used to get values
-	 * @param output The PIDOutput object that is set to the output percentage
-	 * @param period the loop time for doing calculations. This particularly
-	 *        effects calculations of the integral and differential terms. The
-	 *        default is 50ms.
-	 */
-	public PIDController(double Kp, double Ki, double Kd, double Kf,
-	                     PIDSource source, PIDOutput output,
-	                     double period) {
-		super(Kp, Ki, Kd, Kf, source, output, period);
-		this.source = source;
-		this.output = output;
-	}
-
-	/* Convenience constructors *******************************************/
-	/* `Kf`, and `period` are optional */
-
-	/**
-	 * Convenience constructor with {@code Kf} defaulting to
-	 * {@code 0.0}.
-	 *
-	 * @param Kp the proportional coefficient
-	 * @param Ki the integral coefficient
-	 * @param Kd the derivative coefficient
-	 * @param source The PIDSource object that is used to get values
-	 * @param output The PIDOutput object that is set to the output percentage
-	 * @param period the loop time for doing calculations. This particularly
-	 *        effects calculations of the integral and differential terms. The
-	 *        default is 50ms.
-	 */
-	public PIDController(double Kp, double Ki, double Kd,
-	                     PIDSource source, PIDOutput output,
-	                     double period) {
-		this(Kp, Ki, Kd, 0.0, source, output, period);
-	}
-
-	/**
-	 * Convenience constructor with {@code period} defaulting to
-	 * {@link #kDefaultPeriod}.
-	 *
-	 * @param Kp the proportional coefficient
-	 * @param Ki the integral coefficient
-	 * @param Kd the derivative coefficient
-	 * @param Kf the feed forward term
-	 * @param source The PIDSource object that is used to get values
-	 * @param output The PIDOutput object that is set to the output percentage
-	 */
-	public PIDController(double Kp, double Ki, double Kd, double Kf,
-	                     PIDSource source, PIDOutput output) {
-		this(Kp, Ki, Kd, Kf, source, output, kDefaultPeriod);
-	}
-
-	/**
-	 * Convenience constructor with {@code Kf} defaulting to
-	 * {@code 0.0}, and {@code period} defaulting to
-	 * {@link #kDefaultPeriod}.
-	 *
-	 * @param Kp the proportional coefficient
-	 * @param Ki the integral coefficient
-	 * @param Kd the derivative coefficient
-	 * @param source The PIDSource object that is used to get values
-	 * @param output The PIDOutput object that is set to the output percentage
-	 */
-	public PIDController(double Kp, double Ki, double Kd,
-	                     PIDSource source, PIDOutput output) {
-		this(Kp, Ki, Kd, 0.0, source, output, kDefaultPeriod);
-	}
-
-	/* Override to auto-disable if setpoint is NaN, and invert ************/
-
-	/**
-	 * {@inheritDoc}
-	 */
-	@Override
-	public synchronized void setSetpoint(double setpoint) {
-		if (Double.isNaN(setpoint)) {
-			NaNDisabled = true;
-			super.disable();
-		} else {
-			if (NaNDisabled && !isEnabled()) {
-				enable();
-			}
-			super.setSetpoint((inverted ? -1 : 1) * setpoint);
-		}
-	}
-
-	/**
-	 * {@inheritDoc}
-	 */
-	@Override
-	public synchronized void enable() {
-		NaNDisabled = false;
-		super.enable();
-	}
-
-	/**
-	 * {@inheritDoc}
-	 */
-	@Override
-	public synchronized void disable() {
-		NaNDisabled = false;
-		super.disable();
-	}
-
-	/* Implement PIDOutput (a parent of SpeedController) *******************/
-
-	/**
-	 * {@inheritDoc}
-	 */
-	@Override
-	public void pidWrite(double output) {
-		setSetpoint(output);
-	}
-
-	/* Implement SpeedController *******************************************/
-
-	/**
-	 * {@inheritDoc}
-	 */
-	@Override
-	public void set(double output) {
-		setSetpoint(output);
-	}
-
-	/**
-	 * Don't use this.
-	 * @deprecated Don't use this; it is leaking up from
-	 *   {@link edu.wpi.first.wpilibj.CANJaguar} through
-	 *   {@link edu.wpi.first.wpilibj.SpeedController}
-	 */
-	@Override
-	public void set(double output, byte syncGroup) {
-		set(output);
-	}
-
-	/**
-	 * {@inheritDoc}
-	 */
-	@Override
-	public void setInverted(boolean isInverted) {
-		inverted = isInverted;
-	}
-
-	/**
-	 * {@inheritDoc}
-	 */
-	@Override
-	public boolean getInverted() {
-		return inverted;
-	}
-}
diff --git a/src/org/usfirst/frc/team4272/robotlib/Xbox360Controller.java b/src/org/usfirst/frc/team4272/robotlib/Xbox360Controller.java
deleted file mode 100644
index b5c1d13..0000000
--- a/src/org/usfirst/frc/team4272/robotlib/Xbox360Controller.java
+++ /dev/null
@@ -1,299 +0,0 @@
-/**
- * Copyright (c) FIRST 2008-2012. 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.
- *
- * Copyright (c) 2015 Luke Shumaker
- * All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions are met:
- *     * Redistributions of source code must retain the above copyright
- *       notice, this list of conditions and the following disclaimer.
- *     * Redistributions in binary form must reproduce the above copyright
- *       notice, this list of conditions and the following disclaimer in the
- *       documentation and/or other materials provided with the distribution.
- *     * Neither the name of the FIRST nor the
- *       names of its contributors may be used to endorse or promote products
- *       derived from this software without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY FIRST AND CONTRIBUTORS``AS IS'' AND ANY
- * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
- * WARRANTIES OF MERCHANTABILITY NONINFRINGEMENT AND FITNESS FOR A PARTICULAR
- * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL FIRST OR CONTRIBUTORS BE LIABLE FOR
- * ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
- * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
- * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
- * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
- * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
- * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
- *
- * @author Luke Shumaker <lukeshu@sbcglobal.net>
- */
-package org.usfirst.frc.team4272.robotlib;
-
-import edu.wpi.first.wpilibj.GenericHID;
-import edu.wpi.first.wpilibj.Joystick;
-
-/**
- * Handle input from a wired Xbox 360 controller connected to the
- * Driver Station.
- */
-public class Xbox360Controller extends GenericHID {
-	/* Constants ************************************************/
-
-	/**
-	 * Represents an analog axis on an Xbox 360 controller.
-	 */
-	public static enum Axis {
-		LX(0), LY(1), LTrigger(2),
-		RX(4), RY(5), RTrigger(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),
-		LBumper(4), RBumper( 5),
-		Back(6), Start(7), /*Home(8),*/
-		LThumb(8), RThumb(9);
-
-		public final int id;
-		private Button(int id) { this.id = id+1; }
-	}
-
-	/* Constructor **********************************************/
-	private final Joystick joystick;
-
-	/**
-	 * Construct an instance of a joystick.
-	 * The joystick index is the USB port on the Driver Station.
-	 *
-	 * @param port The port on the driver station that the joystick is plugged into
-	 */
-	public Xbox360Controller(final int port) {
-		joystick = new Joystick(port);
-	}
-
-	/* Core functions *******************************************/
-
-	/**
-	 * Get the raw axis
-	 *$
-	 * @param axis Index of the axis
-	 * @return The raw value of the selected axis
-	 */
-	@Override
-	public double getRawAxis(int axis) {
-		return joystick.getRawAxis(axis);
-	}
-
-	/**
-	 * Is the given button pressed
-	 *$
-	 * @param button Index of the button
-	 * @return True if the button is pressed
-	 */
-	@Override
-	public boolean getRawButton(int button) {
-		return joystick.getRawButton(button);
-	}
-
-	/**
-	 * 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(final 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(final Button button) {
-		return getRawButton(button.id);
-	}
-
-	/**
-	 * Ask the Driver Station if this USB joystick is in fact an
-	 * Xbox controller.
-	 *
-	 * @return Whether the controller is an Xbox controller
-	 */
-	public boolean getIsXbox() {
-		return joystick.getIsXbox();
-	}
-
-	/* TODO: Outputs? (Rumble, LEDs) */
-
-	/* Stupid little mathy wrappers *****************************/
-
-	/**
-	 * Get the magnitude of the direction vector formed by the thumb-stick's
-	 * current position relative to its origin
-	 *
-	 * @param hand Left stick or right?
-	 * @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));
-	}
-
-	/**
-	 * Get the direction of the vector formed by the thumb-stick and its origin
-	 * in radians
-	 *
-	 * @param hand Left stick or right?
-	 * @return The direction of the vector in radians
-	 */
-	public double getDirectionRadians(Hand hand) {
-		return Math.atan2(getX(hand), -getY(hand));
-	}
-
-	/**
-	 * 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++
-	 *
-	 * @param hand Left stick or right?
-	 * @return The direction of the vector in degrees
-	 */
-	public double getDirectionDegrees(Hand hand) {
-		return Math.toDegrees(getDirectionRadians(hand));
-	}
-
-	/* Stupid aliases for getAxis/getButton *********************/
-
-	/**
-	 * Get the state of a trigger; whether it is mostly pressed or
-	 * not.
-	 *
-	 * @param hand Left trigger or right?
-	 * @return The state of the trigger.
-	 */
-	@Override
-	public boolean getTrigger(Hand hand) {
-		return getZ(hand) > 0.75;
-	}
-
-	/**
-	 * Get the state of a bumper.
-	 *
-	 * @param hand Left bumper or right?
-	 * @return Whether the bumper is pressed
-	 * @deprecated This method is only here to complete the {@link GenericHID} abstract class.
-	 */
-	@Override
-	public boolean getBumper(Hand hand) {
-		if (hand.value == Hand.kLeft.value)
-			return getButton(Button.LBumper);
-		if (hand.value == Hand.kRight.value)
-			return getButton(Button.RBumper);
-		return false;
-	}
-
-	/**
-	 * Get the state of a thumb-stick button.
-	 *
-	 * @param hand Left trigger or right?
-	 * @return the state of the button.
-	 */
-	@Override
-	public boolean getTop(Hand hand) {
-		if (hand.value == Hand.kLeft.value)
-			return getButton(Button.LThumb);
-		if (hand.value == Hand.kRight.value)
-			return getButton(Button.RThumb);
-		return false;
-	}
-
-	/**
-	 * Get the X value of a thumb-stick.
-	 *
-	 * @param hand Left stick or right?
-	 * @return The X value of the thumb-stick.
-	 */
-	@Override
-	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 thumb-stick.
-	 */
-	@Override
-	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.
-	 */
-	@Override
-	public double getZ(final Hand hand) {
-		if (hand.value == Hand.kLeft.value)
-			return getAxis(Axis.LTrigger);
-		if (hand.value == Hand.kRight.value)
-			return getAxis(Axis.RTrigger);
-		return 0.0;
-	}
-
-	/* Stupid things I have to implement ************************/
-
-	/**
-	 * @return Always 0.0
-	 * @deprecated This method is only here to complete the {@link GenericHID} abstract class.
-	 */
-	@Override
-	public double getTwist() {
-		return 0.0;
-	}
-
-	/**
-	 * @return Always 0.0
-	 * @deprecated This method is only here to complete the {@link GenericHID} abstract class.
-	 */
-	@Override
-	public double getThrottle() {
-		return 0.0;
-	}
-
-	/**
-	 * @param pov Unused
-	 * @return Always 0
-	 * @deprecated This method is only here to complete the {@link GenericHID} abstract class.
-	 */
-	@Override
-	public int getPOV(int pov) {
-		return 0;
-	}
-}