Controller

A library to simplify usage of the WPILib controller class

Adding it to your project

Luckily, including it into your robot code is as simple as copying the cntl.h and cntl.cpp files into the same folder as the main code and including it with #include "cntl.h"

Usage

Initialization

The constructor takes the port of the controller and the deadzone (value of 0 to 1)

Here's an example

class Robot: public IterativeRobot {
public:
  cntl *stick1
  void RobotInit() {
    stick1 = new cntl(0, 0.2);
    /* Other init stuff */
  }
}

Updating the values

This updates all of the joystick values using voodoo magic

void TeleopPeriodic() {
  stick1->UpdateCntl();
  /* Other teleop stuff */
}

Using the values

One helpful feature is that some special cases of the button's state are kept track of. For example, if you wanted to only do something on the first loop that a button is pressed.
if(stick1->bA->RE()) { /* Call a function for grabbing a ball or something */ };

Or if you wanted to do something as long as a button is held.
while(stick1->bX->Hld()) { /* Do something and update the controller at the end of the loop */ };

Or if you want to use the current state as it is for something.
if(stick1->bLS->State()) { /* Do something fun... Or maybe boring :c */ };

Useful values

Buttons

Variable name	Controller button
bA	A button
bB	B button
bX	X button
bY	Y button
bLB	Left Bumper
bRB	Right Bumper
bBack	Back button
bStart	Start button
bLS	Left Shoulder
bRS	Right Shoulder

Joysticks

Variable name	Joystick axis
LX	Left joystick X axis
LY	Left joystick Y axis
RX	Right joystick X axis
RY	Right joystick Y axis
RTrig	Right trigger
LTrig	Left trigger

Notes

Troubleshooting

If you run into any difficulties, your controller may be incompatible. This code was developed using a standard XBox 360 Controller made by Microsoft.
I will add compatibilty for other controllers in the future, but for now this is the only supported controller.

If you are sure that your controller is compatible, but you still have issues, feel free to contact me and I'll help you as much as I can.

"What's the btn class in the header for?"

In the early stages of development, I quickly realized that having 3 variables for every button would be a mess. So I decided to add a class for button objects. This made it much easier to track and update each button's values.
I was considering removing it because it wouldn't be needed much by the standard user, then I considered that FIRST may allow for different controllers in the future(however unlikely it may be). Additionally, it lets the user take a little peek at how it all works if they really want(or they could look in the .cpp file).