Clean up Xbox360Controller

1 files changed, 131 insertions, 108 deletions

diff --git a/src/org/usfirst/frc/team4272/robotlib/Xbox360Controller.java b/src/org/usfirst/frc/team4272/robotlib/Xbox360Controller.java
index e8fff71..8c54b5f 100644
--- a/src/org/usfirst/frc/team4272/robotlib/Xbox360Controller.java
+++ b/src/org/usfirst/frc/team4272/robotlib/Xbox360Controller.java
@@ -33,21 +33,23 @@
  */
 package org.usfirst.frc.team4272.robotlib;
 
+import edu.wpi.first.wpilibj.GenericHID;
+import edu.wpi.first.wpilibj.GenericHID.Hand;
 import edu.wpi.first.wpilibj.Joystick;
 
 /**
  * Handle input from a wired Xbox 360 controller connected to the
  * Driver Station.
  */
-public class Xbox360Controller extends Joystick {
+public class Xbox360Controller extends GenericHID {
 	/* 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),
+		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;
@@ -61,108 +63,148 @@ public class Xbox360Controller extends Joystick {
 	public static enum Button {
 		A(0), B(1),
 		X(2), Y(3),
-		/** left bumper */ LB(4), /** right bumper */RB( 5),
+		LBumper(4), RBumper( 5),
 		Back(6), Start(7), /*Home(8),*/
-		/** left thumb */ LT(8), /** right thumb */ RT(9);
+		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 drivers station.
+	 * 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.
+	 * @param port The port on the driver station that the joystick is plugged into
 	 */
 	public Xbox360Controller(final int port) {
-		super(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.
+	 * @param axis The axis to read
+	 * @return The value of the axis
 	 */
-	public double getAxis(Axis 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.
+	 * @param button The button to read
+	 * @return The state of the button
 	 */
-	public boolean getButton(Button 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();
+	}
 
-	/* 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 ***********************************/
+	/* TODO: Outputs? (Rumble, LEDs) */
+
+	/* Stupid little mathy wrappers *****************************/
 
 	/**
-	 * Get the X value of a thumb-stick.
+	 * 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 X value of the joystick.
+	 * @return The magnitude of the direction vector
 	 */
-	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;
+	public double getMagnitude(Hand hand) {
+		return Math.sqrt(Math.pow(getX(hand), 2) + Math.pow(getY(hand), 2));
 	}
 
 	/**
-	 * Get the Y value of a thumb-stick.
+	 * 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 Y value of the joystick.
+	 * @return The direction of the vector in degrees
 	 */
-	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;
+	public double getDirectionDegrees(Hand hand) {
+		return Math.toDegrees(getDirectionRadians(hand));
 	}
 
+	/* Stupid aliases for getAxis/getButton *********************/
+
 	/**
-	 * Get the value of a trigger.
+	 * Get the state of a trigger; whether it is mostly pressed or
+	 * not.
 	 *
 	 * @param hand Left trigger or right?
-	 * @return The trigger value.
+	 * @return The state of the trigger.
 	 */
-	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;
+	@Override
+	public boolean getTrigger(Hand hand) {
+		return getZ(hand) > 0.75;
 	}
 
 	/**
 	 * Get the state of a bumper.
 	 *
-	 * @param hand Left trigger or right?
-	 * @return the state of the 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.LB);
+			return getButton(Button.LBumper);
 		if (hand.value == Hand.kRight.value)
-			return getButton(Button.RB);
+			return getButton(Button.RBumper);
 		return false;
 	}
 
@@ -172,106 +214,87 @@ public class Xbox360Controller extends Joystick {
 	 * @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.LT);
+			return getButton(Button.LThumb);
 		if (hand.value == Hand.kRight.value)
-			return getButton(Button.RB);
+			return getButton(Button.RThumb);
 		return false;
 	}
 
 	/**
-	 * Get the state of a trigger; whether it is more than
-	 * half-way pressed or not.
+	 * Get the X value of a thumb-stick.
 	 *
-	 * @param hand Left trigger or right?
-	 * @return The state of the trigger.
+	 * @param hand Left stick or right?
+	 * @return The X value of the thumb-stick.
 	 */
-	public boolean getTrigger(Hand hand) {
-		return getZ(hand) > 0.75;
+	@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 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 Y value of a thumb-stick.
 
-	/**
-	 * Get the direction of the vector formed by the thumb-stick and its origin
-	 * in radians
-	 *
-	 * @return The direction of the vector in radians
+	 * @param hand Left stick or right?
+	 * @return The Y value of the thumb-stick.
 	 */
-	public double getDirectionRadians(Hand hand) {
-		return Math.atan2(getX(hand), -getY(hand));
-	}
-
-	public double getDirectionRadians() {
-		return getDirectionRadians(Hand.kRight);
+	@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 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++
+	 * Get the value of a trigger.
 	 *
-	 * @return The direction of the vector in degrees
+	 * @param hand Left trigger or right?
+	 * @return The trigger value.
 	 */
-	public double getDirectionDegrees(Hand hand) {
-		return Math.toDegrees(getDirectionRadians(hand));
-	}
-
-	public double getDirectionDegrees() {
-		return Math.toDegrees(getDirectionRadians(Hand.kRight));
+	@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;
 	}
 
-
-	/* Unused wrappers for GenericHID/Joystick ******************/
+	/* Stupid things I have to implement ************************/
 
 	/**
-	 * This method is only here to complete the GenericHID interface.
-	 *
 	 * @return Always 0.0
+	 * @deprecated This method is only here to complete the {@link GenericHID} abstract class.
 	 */
+	@Override
 	public double getTwist() {
 		return 0.0;
 	}
 
 	/**
-	 * This method is only here to complete the GenericHID interface.
-	 *
 	 * @return Always 0.0
+	 * @deprecated This method is only here to complete the {@link GenericHID} abstract class.
 	 */
+	@Override
 	public double getThrottle() {
 		return 0.0;
 	}
 
 	/**
-	 * This method is only here to complete the Joystick interface.
-	 *
-	 * @param axis unused
+	 * @param pov Unused
 	 * @return Always 0
+	 * @deprecated This method is only here to complete the {@link GenericHID} abstract class.
 	 */
-	public int getAxisChannel(AxisType axis) {
+	@Override
+	public int getPOV(int pov) {
 		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) {}
 }