XBoxController.java

package org.badgerbots.lib;

import edu.wpi.first.wpilibj.DriverStation;

/**
 * Use an XBox controller like a regular Joystick class
 *
 * @author Jon Morton
 */
public class XBoxController {

    private DriverStation _ds;
    private final int _port;

    public XBoxController(int port) {
        _ds = DriverStation.getInstance();
        _port = port;
    }

    public double getRawAxis(final int axis) {
        return _ds.getStickAxis(_port, axis);
    }

    public boolean getRawButton(final int button) {
        return ((0x1 << (button - 1)) & _ds.getStickButtons(_port)) != 0;
    }

    /**
     * Warning! getRightTrigger() and getLeftTrigger() both use getRawAxis(3).
     * As getRawAxis(3) goes below zero, getRightTrigger() increases, and as
     * getRawAxis(3) goes above zero, getLeftTrigger() increases. If both
     * triggers are pressed, both of them will be treated as zero. You can only
     * use one trigger at a time.
     *
     * @return
     */
    public double getRightTrigger() {
        return -Math.min(getRawAxis(3), 0);
    }

    public double getLeftTrigger() {
        return Math.max(getRawAxis(3), 0);
    }

    public double getRightJoyX() {
        return getRawAxis(4);
    }

    public double getRightJoyY() {
        return getRawAxis(5);
    }

    public double getLeftJoyX() {
        return getRawAxis(1);
    }

    public double getLeftJoyY() {
        return getRawAxis(2);
    }

    public boolean getButtonA() {
        return getRawButton(1);
    }

    public boolean getButtonB() {
        return getRawButton(2);
    }

    public boolean getButtonX() {
        return getRawButton(3);
    }

    public boolean getButtonY() {
        return getRawButton(4);
    }

    public boolean getButtonBack() {
        return getRawButton(7);
    }

    public boolean getButtonStart() {
        return getRawButton(8);
    }

    public boolean getButtonRB() {
        return getRawButton(6);
    }

    public boolean getButtonLB() {
        return getRawButton(5);
    }

    public boolean getButtonLS() {
        return getRawButton(9);
    }

    public boolean getButtonRS() {
        return getRawButton(10);
    }
}