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| package org.usfirst.frc.team1736.lib.HAL; | |
| import edu.wpi.first.wpilibj.Joystick; | |
| import edu.wpi.first.wpilibj.Joystick.RumbleType; | |
| /////////////////////////////////////////////////////////////////////////////// | |
| // Copyright (c) FRC Team 1736 2016. See the License file. | |
| // | |
| // Can you use this code? Sure! We're releasing this under GNUV3, which | |
| // basically says you can take, modify, share, publish this as much as you | |
| // want, as long as you don't make it closed source. | |
| // | |
| // If you do find it useful, we'd love to hear about it! Check us out at | |
| // http://robotcasserole.org/ and leave us a message! | |
| /////////////////////////////////////////////////////////////////////////////// | |
| /** | |
| * DESCRIPTION: <br> | |
| * This class was created purely in an effort to make controller calls less clunky overall. Not | |
| * terribly useful, but hopefully way easier than typing out a super long string every time you want | |
| * to call a controller button. <br> | |
| * I don't want to put "get" in front of my methods because that'll make the calls ever so slightly | |
| * longer, so I won't. As Chris says, "If later we don't like it, we'll change it." <br> | |
| * <br> | |
| * USAGE: | |
| * <ol> | |
| * <li>Instantiate Class</li> | |
| * <li>Call methods to read from controller.</li> | |
| * </ol> | |
| * | |
| * | |
| */ | |
| public class Xbox360Controller { | |
| // Xbox Controller 2015 (Zero Based (I think)) Constants | |
| // -Controller Buttons | |
| final static int XBOX_A_BUTTON = 1; | |
| final static int XBOX_B_BUTTON = 2; | |
| final static int XBOX_X_BUTTON = 3; | |
| final static int XBOX_Y_BUTTON = 4; | |
| final static int XBOX_LEFT_BUTTON = 5; | |
| final static int XBOX_RIGHT_BUTTON = 6; | |
| final static int XBOX_BACK_BUTTON = 7; | |
| final static int XBOX_START_BUTTON = 8; | |
| final static int XBOX_LSTICK_BUTTON = 9; | |
| final static int XBOX_RSTICK_BUTTON = 10; | |
| // -Controller Axes | |
| final static int XBOX_LSTICK_XAXIS = 0; | |
| final static int XBOX_LSTICK_YAXIS = 1; | |
| final static int XBOX_LTRIGGER_AXIS = 2; | |
| final static int XBOX_RTRIGGER_AXIS = 3; | |
| final static int XBOX_RSTICK_XAXIS = 4; | |
| final static int XBOX_RSTICK_YAXIS = 5; | |
| // -Controller D-Pad POV Hat | |
| final static int XBOX_DPAD_POV = 0; | |
| private Joystick joystick; | |
| /** | |
| * Set up a new joystick | |
| * | |
| * @param joystick_id The index to pass to WPIlib for the joystick. Usually 0 is driver1, 1 is | |
| * driver2, and so on | |
| */ | |
| public Xbox360Controller(int joystick_id) { | |
| joystick = new Joystick(joystick_id); | |
| } | |
| /** | |
| * Adjust the rumbliness of the left rumble motor. | |
| * | |
| * @param value Strength of Rumble, 0 is min and 1 is max. | |
| */ | |
| public void setLeftRumble(float value) { | |
| joystick.setRumble(RumbleType.kLeftRumble, value); | |
| } | |
| /** | |
| * Adjust the rumbliness of the right rumble motor. | |
| * | |
| * @param value Strength of Rumble, 0 is min and 1 is max. | |
| */ | |
| public void setRightRumble(float value) { | |
| joystick.setRumble(RumbleType.kRightRumble, value); | |
| } | |
| /** | |
| * Turn off all rumble motors | |
| */ | |
| public void rumbleOff() { | |
| setLeftRumble(0f); | |
| setRightRumble(0f); | |
| } | |
| /** | |
| * @return True if A is pressed, False if A is not pressed | |
| */ | |
| public boolean A() { | |
| return joystick.getRawButton(XBOX_A_BUTTON); | |
| } | |
| /** | |
| * @return True if B is pressed, False if B is not pressed | |
| */ | |
| public boolean B() { | |
| return joystick.getRawButton(XBOX_B_BUTTON); | |
| } | |
| /** | |
| * @return True if X is pressed, False if X is not pressed | |
| */ | |
| public boolean X() { | |
| return joystick.getRawButton(XBOX_X_BUTTON); | |
| } | |
| /** | |
| * @return True if Y is pressed, False if Y is not pressed | |
| */ | |
| public boolean Y() { | |
| return joystick.getRawButton(XBOX_Y_BUTTON); | |
| } | |
| /** | |
| * @return True if the left bumper button is pressed, False if it is not pressed | |
| */ | |
| public boolean LB() { | |
| return joystick.getRawButton(XBOX_LEFT_BUTTON); | |
| } | |
| /** | |
| * @return True if the right bumper button is pressed, False if it is not pressed | |
| */ | |
| public boolean RB() { | |
| return joystick.getRawButton(XBOX_RIGHT_BUTTON); | |
| } | |
| /** | |
| * @return True if the "Back" button (on top of the controller) is pressed, False if it is not | |
| * pressed. | |
| */ | |
| public boolean BackButton() { | |
| return joystick.getRawButton(XBOX_BACK_BUTTON); | |
| } | |
| /** | |
| * @return True if the "Start" button (on top of the controller) is pressed, False if it is not | |
| * pressed. | |
| */ | |
| public boolean StartButton() { | |
| return joystick.getRawButton(XBOX_START_BUTTON); | |
| } | |
| /** | |
| * @return True if the left stick is depressed, False if it is not pressed. | |
| */ | |
| public boolean LStickButton() { | |
| return joystick.getRawButton(XBOX_LSTICK_BUTTON); | |
| } | |
| /** | |
| * @return True if the right stick is depressed, False if it is not pressed. | |
| */ | |
| public boolean RStickButton() { | |
| return joystick.getRawButton(XBOX_RSTICK_BUTTON); | |
| } | |
| // JOYSTICK AXIS METHODS | |
| /** | |
| * @return Left stick X axis position. 0 is centered, 1 is all the way to the right, -1 is all | |
| * the way to the left. | |
| */ | |
| public double LStick_X() { | |
| return joystick.getRawAxis(XBOX_LSTICK_XAXIS); | |
| } | |
| /** | |
| * @return Left stick Y axis position. 0 is centered, 1 is all the way to the top, -1 is all the | |
| * way to the bottom. | |
| */ | |
| public double LStick_Y() { | |
| return -joystick.getRawAxis(XBOX_LSTICK_YAXIS); | |
| } | |
| /** | |
| * @return Left trigger depression. 0 is not depressed, 1 is fully pulled in, 0.5 is partially | |
| * pulled. Note the Xbox underlying hardware ties the left and right triggers together, | |
| * so pulling both triggers at the same time results in interesting things happening. | |
| */ | |
| public double LTrigger() { | |
| return joystick.getRawAxis(XBOX_LTRIGGER_AXIS); | |
| } | |
| /** | |
| * @return Right trigger depression. 0 is not depressed, 1 is fully pulled in, 0.5 is partially | |
| * pulled. Note the Xbox underlying hardware ties the left and right triggers together, | |
| * so pulling both triggers at the same time results in interesting things happening. | |
| */ | |
| public double RTrigger() { | |
| return joystick.getRawAxis(XBOX_RTRIGGER_AXIS); | |
| } | |
| /** | |
| * @return Right stick X axis position. 0 is centered, 1 is all the way to the right, -1 is all | |
| * the way to the left. | |
| */ | |
| public double RStick_X() { | |
| return joystick.getRawAxis(XBOX_RSTICK_XAXIS); | |
| } | |
| /** | |
| * @return Left stick Y axis position. 0 is centered, 1 is all the way to the top, -1 is all the | |
| * way to the bottom. | |
| */ | |
| public double RStick_Y() { | |
| return joystick.getRawAxis(XBOX_RSTICK_YAXIS); | |
| } | |
| // JOYSTICK DPAD HAT METHODS | |
| /** | |
| * @return The current "angle" from the DPad (POV switch) | |
| */ | |
| public int DPad() { | |
| return joystick.getPOV(XBOX_DPAD_POV); | |
| } | |
| /** | |
| * @return True if the DPad is pushed up, False if it is not pressed | |
| */ | |
| public boolean DPadUp() { | |
| if (joystick.getPOV(XBOX_DPAD_POV) >= 315 && joystick.getPOV(XBOX_DPAD_POV) <= 45) | |
| return true; | |
| else | |
| return false; | |
| } | |
| /** | |
| * @return True if the DPad is pushed right, False if it is not pressed | |
| */ | |
| public boolean DPadRight() { | |
| if (joystick.getPOV(XBOX_DPAD_POV) >= 45 && joystick.getPOV(XBOX_DPAD_POV) <= 135) | |
| return true; | |
| else | |
| return false; | |
| } | |
| /** | |
| * @return True if the DPad is pushed down, False if it is not pressed | |
| */ | |
| public boolean DPadDown() { | |
| if (joystick.getPOV(XBOX_DPAD_POV) >= 135 && joystick.getPOV(XBOX_DPAD_POV) <= 225) | |
| return true; | |
| else | |
| return false; | |
| } | |
| /** | |
| * @return True if the DPad is pushed left, False if it is not pressed | |
| */ | |
| public boolean DPadLeft() { | |
| if (joystick.getPOV(XBOX_DPAD_POV) >= 225 && joystick.getPOV(XBOX_DPAD_POV) <= 315) | |
| return true; | |
| else | |
| return false; | |
| } | |
| } |