Java 类edu.wpi.first.wpilibj.XboxController 实例源码

public void winchUp(XboxController controller) {
    double y = deadZoneInput(controller.getY(GenericHID.Hand.kLeft), .1);       

if(y > .1)
    speedController1.set(y);
else
    speedController1.set(0);
  }

/**
 * This function is run when the robot is first started up and should be
 * used for any initialization code.
 */
public void robotInit()
{
    // PWM's
    mTestMotor1 = new Talon(0);
    mTestMotor2 = new Jaguar(1);
    mServo = new Servo(2);

    // Digital IO
    mDigitalOutput = new DigitalOutput(0);
    mRightEncoder = new Encoder(4, 5);
    mLeftEncoder = new Encoder(1, 2);
    mUltrasonic = new Ultrasonic(7, 6);

    // Analog IO
    mAnalogGryo = new AnalogGyro(0);
    mPotentiometer = new AnalogPotentiometer(1);

    // Solenoid
    mSolenoid = new Solenoid(0);

    // Relay
    mRelay = new Relay(0);

    // Joysticks
    mJoystick1 = new Joystick(0);
    mJoystick2 = new XboxController(1);

    // SPI
    mSpiGryo = new ADXRS450_Gyro();

    // Utilities
    mTimer = new Timer();
    mPDP = new PowerDistributionPanel();

    Preferences.getInstance().putDouble("Motor One Speed", .5);
}

public ControllerHandler(int port) {
    controller = new XboxController(port);
}

@Override
public void robotInit() {

        chooser = new SendableChooser<Integer>();
        chooser.addDefault("center red", 1);
        chooser.addObject("center blue", 2);
        chooser.addObject("boiler red", 3);
        chooser.addObject("boiler blue", 4);
        chooser.addObject("ret red", 5);
        chooser.addObject("ret blue", 6);
        chooser.addObject("current test", 7);

        SmartDashboard.putData("Auto choices", chooser);

        //NETWORK TABLE VARIABLES
        table = NetworkTable.getTable("dataTable");

        //POWER DIST PANEL
        pdp = new PowerDistributionPanel();

        //NAVX
        navx = new AHRS(SPI.Port.kMXP);

        // CONTROLLER
        jsLeft = new Joystick(0);
        jsRight = new Joystick(1);
        xbox = new XboxController(5);

        // MOTORS
        leftFront = new Talon(pwm5);
        leftMid = new Talon(pwm3);
        leftBack = new Talon(pwm1);
        rightFront = new Talon(pwm4);
        rightMid = new Talon(pwm2);
        rightBack = new Talon(pwm0);

        // ENCODERS
        encLeftDrive = new Encoder(0,1);
        encRightDrive = new Encoder(2,3);

        // COMPRESSOR
        compressor = new Compressor();
        compressor.start();

        //SOLENOIDs
        driveChain = new DoubleSolenoid(0,1);
        driveChain.set(Value.kReverse);
        presser = new DoubleSolenoid(2,3);
        presser.set(Value.kReverse);
        gearpiston = new DoubleSolenoid(4,5);
        gearpiston.set(Value.kReverse);


        //CANTALONS
        climber = new CANTalon(2);
        shooter = new CANTalon(4);
        intake = new CANTalon(9);
        feeder = new CANTalon(13);

        // CAMERA
        //DON'T DELETE THE COMMENTED THREAD-IT IS USED FOR CALIBRATION
        /*
        UsbCamera usbCam = new UsbCamera("mscam", 0);
        usbCam.setVideoMode(VideoMode.PixelFormat.kMJPEG, 160, 120, 20);
        MjpegServer server1 = new MjpegServer("cam1", 1181);
        server1.setSource(usbCam);
        */

        UsbCamera camera = CameraServer.getInstance().startAutomaticCapture();
        camera.setVideoMode(VideoMode.PixelFormat.kMJPEG, 160, 120, 20);

        //SMARTDASBOARD
        driveSetting = "LOW START";
        gearSetting = "GEAR CLOSE START";
}

public JoystickPov(XboxController controller, Direction triggerDirection) {
  this.controller = controller;
  this.triggerDirection = triggerDirection;
}

public OI() {
    driveJoystick = new XboxController(0);
    armJoystick = new XboxController(1);

    // BEGIN AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=CONSTRUCTORS

    clawButton = new JoystickButton(armJoystick, 2);
    clawButton.whenPressed(new Jaws());
    armButton = new JoystickButton(armJoystick, 1);
    armButton.whenPressed(new ArmUp());

    //testButton = new JoystickButton(driveJoystick, 1);
    //testButton.whenPressed(new TestDriveCount());

    gearSwitch = new GearSensorDigitalSwitch();
    gearSwitch.whenPressed(new CloseOnTrigger());


    // SmartDashboard Buttons
    SmartDashboard.putData("Autonomous Command", new AutonomousCommand());
    SmartDashboard.putData("Mecanum Drive", new MecanumDrive());
    SmartDashboard.putData("Arm Up", new ArmUp());
    //SmartDashboard.putData("Arm Down", new ArmDown());
    SmartDashboard.putData("Jaws Close", new Jaws());
    //SmartDashboard.putData("Jaws Open", new JawsOpen());
    SmartDashboard.putData("Winch Up", new WinchUp());
    SmartDashboard.putData("DriveToPeg", new DriveToPeg());

// END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=CONSTRUCTORS

    /* xbox button mapping
     * A = 1
     * B = 2
     * X = 3
     * Y = 4
     * leftStick press = 9
     * rightStick press = 10 
     * backButton = 7
     * startButton = 8
     * leftBumper = 5
     * rightBumper = 6
     */
}

public XboxController getDriveJoystick() {
    return driveJoystick;
}

public XboxController getArmJoystick() {
    return armJoystick;
}

public void mecanumDrive(XboxController controller) {       
  double x = deadZoneInput(controller.getX(GenericHID.Hand.kLeft), .3); 
  double y = deadZoneInput(controller.getY(GenericHID.Hand.kLeft), .1) * .5; 
  double rotation = deadZoneInput(controller.getX(GenericHID.Hand.kRight), .1) * .7;

  if(controller.getTriggerAxis(GenericHID.Hand.kRight) != 0.0) {
        double trigger = controller.getTriggerAxis(GenericHID.Hand.kRight);
        y = y * (trigger + 1);
        rotation = rotation * (1-(trigger*.5));
  }

    StringBuilder sb = new StringBuilder();

    if(controller.getBumper(GenericHID.Hand.kLeft)) {
        rFM.changeControlMode(TalonControlMode.PercentVbus);
        rRM.changeControlMode(TalonControlMode.PercentVbus);
        lFM.changeControlMode(TalonControlMode.PercentVbus);
        lRM.changeControlMode(TalonControlMode.PercentVbus);

        robotDrive41.mecanumDrive_Cartesian(x, y, rotation, 0);     
    }
    else {
        y = y * -1;
        //sb.append("rawx:" + rotation + ", rawy:" + y);
        //double motorOutput = lFM.getOutputVoltage() / lFM.getBusVoltage();

        double z = Math.sqrt(rotation * rotation + y * y);
        double rad = Math.acos(Math.abs(rotation)/z);
        double angle = rad * 180.0 / Math.PI;

        double tcoeff = -1 + (angle/90.0)*2.0;
        double turn = tcoeff * Math.abs(Math.abs(y) - Math.abs(rotation));
        turn = Math.round(turn*100.0)/100.0;

        double move = Math.max(Math.abs(y), Math.abs(rotation));

        double left = 0;
        double right = 0;

        if ((rotation >= 0 && y >=0) || (rotation < 0 && y < 0))
        {
            left = move;
            right = turn;               
        }
        else {
            right = move;
            left = turn;                                
        }

        if (y < 0)
        {
            left = 0 - left;
            right = 0 - right;              
        }

        double rightTargetSpeed = right * 1200;
        rFM.changeControlMode(TalonControlMode.Speed);
        rFM.set(rightTargetSpeed);

        //rRM.changeControlMode(TalonControlMode.Follower);
        //rRM.set(0);

        rRM.changeControlMode(TalonControlMode.Speed);
        rRM.set(rightTargetSpeed);

        double leftTargetSpeed = left * 1200;
        lFM.changeControlMode(TalonControlMode.Speed);
        lFM.set(leftTargetSpeed);

        //lRM.changeControlMode(TalonControlMode.Follower);
        //lRM.set(1);

        lRM.changeControlMode(TalonControlMode.Speed);
        lRM.set(leftTargetSpeed);           
    }
}

public OI() {
  this.joystick = new XboxController(RobotMap.XBOX_CONTROLLER);

  this.joystick2 = new XboxController(RobotMap.XBOX_CONTROLLER2);


  this.buttonA2 = new JoystickButton(this.joystick2, 1);
  this.buttonB2 = new JoystickButton(this.joystick2, 2);
  this.buttonX2 = new JoystickButton(this.joystick2, 3);
  this.buttonY2 = new JoystickButton(this.joystick2, 4);
  this.buttonLeftBumper2 = new JoystickButton(this.joystick2, 5);
  this.buttonRightBumper2 = new JoystickButton(this.joystick2, 6);
  this.buttonBack2 = new JoystickButton(this.joystick2, 7);
  this.buttonStart2 = new JoystickButton(this.joystick2, 8);
  this.buttonLeftThumb2 = new JoystickButton(this.joystick2, 9);
  this.buttonRightThumb2 = new JoystickButton(this.joystick2, 10);
  this.dpadUp2 = new Trigger() {@Override public boolean get() {return joystick2.getPOV(0) == 0;}};
  this.dpadUpRight2 = new Trigger() {@Override public boolean get() {return joystick2.getPOV(0) == 45;}};
  this.dpadRight2 = new Trigger() {@Override public boolean get() {return joystick2.getPOV(0) == 90;}};
  this.dpadDownRight2 = new Trigger() {@Override public boolean get() {return joystick2.getPOV(0) == 135;}};
  this.dpadDown2 = new Trigger() {@Override public boolean get() {return joystick2.getPOV(0) == 180;}};
  this.dpadDownLeft2 = new Trigger() {@Override public boolean get() {return joystick2.getPOV(0) == 225;}};
  this.dpadLeft2 = new Trigger() {@Override public boolean get() {return joystick2.getPOV(0) == 270;}};
  this.dpadUpLeft2 = new Trigger() {@Override public boolean get() {return joystick2.getPOV(0) == 315;}};

  // mappings based on this post from CD...
  // https://www.chiefdelphi.com/forums/attachment.php?attachmentid=20028&d=1455109186
  this.buttonA = new JoystickButton(this.joystick, 1);
  this.buttonB = new JoystickButton(this.joystick, 2);
  this.buttonX = new JoystickButton(this.joystick, 3);
  this.buttonY = new JoystickButton(this.joystick, 4);
  this.buttonLeftBumper = new JoystickButton(this.joystick, 5);
  this.buttonRightBumper = new JoystickButton(this.joystick, 6);
  this.buttonBack = new JoystickButton(this.joystick, 7);
  this.buttonStart = new JoystickButton(this.joystick, 8);
  this.buttonLeftThumb = new JoystickButton(this.joystick, 9);
  this.buttonRightThumb = new JoystickButton(this.joystick, 10);
  this.dpadUp = new Trigger() {@Override public boolean get() {return joystick.getPOV(0) == 0;}};
  this.dpadUpRight = new Trigger() {@Override public boolean get() {return joystick.getPOV(0) == 45;}};
  this.dpadRight = new Trigger() {@Override public boolean get() {return joystick.getPOV(0) == 90;}};
  this.dpadDownRight = new Trigger() {@Override public boolean get() {return joystick.getPOV(0) == 135;}};
  this.dpadDown = new Trigger() {@Override public boolean get() {return joystick.getPOV(0) == 180;}};
  this.dpadDownLeft = new Trigger() {@Override public boolean get() {return joystick.getPOV(0) == 225;}};
  this.dpadLeft = new Trigger() {@Override public boolean get() {return joystick.getPOV(0) == 270;}};
  this.dpadUpLeft = new Trigger() {@Override public boolean get() {return joystick.getPOV(0) == 315;}};

  //this.buttonA.whenPressed(new DriveHeadingAndDistance(0, 1));
  //this.buttonA.whenPressed(new DriveStraightCommand(5));
 // this.buttonA.whenPressed(new DriveStraightCommand(5));
  //this.buttonB.whenPressed(new TurnToHeading(180));
  this.buttonRightBumper.whileHeld(new DeliverGearCommand());

  this.buttonA2.whenPressed(new FeederCommand());
  this.buttonB2.toggleWhenPressed(new ShooterCommand());
  //this.buttonX2.whenPressed(new PushGear());
}

public XboxController getJoystick() {
    return joystick;
}

public XboxController getJoystick2() {
    return joystick2;
}