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-rw-r--r--src/org/usfirst/frc/team4272/robot2016/Autonomous.java14
-rw-r--r--src/org/usfirst/frc/team4272/robot2016/Control.java11
-rw-r--r--src/org/usfirst/frc/team4272/robot2016/HwOI.java5
-rw-r--r--src/org/usfirst/frc/team4272/robot2016/HwRobot.java55
-rw-r--r--src/org/usfirst/frc/team4272/robot2016/Teleop.java102
-rw-r--r--src/org/usfirst/frc/team4272/robotlib/PIDController.java216
-rw-r--r--src/org/usfirst/frc/team4272/robotlib/Xbox360Controller.java299
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;
- }
-}