Package frclib.driverio

Class FrcDualJoystick

java.lang.Object
trclib.driverio.TrcGameController
frclib.driverio.FrcDualJoystick
public class FrcDualJoystick extends TrcGameController
This class implements the platform dependent joystick. It provides monitoring of the joystick buttons. If the caller of this class provides a button notification handler, it will call it when there are button events.

  • Nested Class Summary

    Nested Classes
    Modifier and Type
    Class
    Description
    static interface 
    FrcDualJoystick.ButtonEventHandler
    This interface, if provided, will allow this class to do a notification callback when there are button activities.
    static enum 
    FrcDualJoystick.ButtonType
     

    Nested classes/interfaces inherited from class trclib.driverio.TrcGameController

    TrcGameController.DriveMode

  • Field Summary

    Fields
    Modifier and Type
    Field
    Description
    final edu.wpi.first.wpilibj.Joystick
    leftJoystick
     
    final edu.wpi.first.wpilibj.Joystick
    rightJoystick
     

    Fields inherited from class trclib.driverio.TrcGameController

    instanceName, tracer

  • Constructor Summary

    Constructors
    Constructor
    Description
    FrcDualJoystick(String instanceName, int leftPort, int rightPort)
    Constructor: Create an instance of the object.
    FrcDualJoystick(String instanceName, int leftPort, int rightPort, double deadbandThreshold)
    Constructor: Create an instance of the object.

  • Method Summary

    Modifier and Type
    Method
    Description
    int
    getButtons()
    This method returns the button states in an integer by combining all the button states.
    double[]
    getDriveInputs(TrcGameController.DriveMode driveMode, boolean doExp)
    This method reads various joystick/gamepad control values and returns the drive powers for all three degrees of robot movement.
    double[]
    getDriveInputs(TrcGameController.DriveMode driveMode, boolean doExp, double drivePowerScale, double turnPowerScale)
    This method reads various joystick/gamepad control values and returns the drive powers for all three degrees of robot movement.
    double
    getLeftStickTwist()
    This method returns the twist-axis value of the left stick.
    double
    getLeftStickTwist(boolean doExp)
    This method returns the twist-axis value of the left stick.
    double
    getLeftStickTwist(double cubicCoefficient)
    This method returns the twist-axis value of the left stick using the cubic polynomial curve.
    double
    getLeftStickX()
    This method returns the x-axis value of the left stick.
    double
    getLeftStickX(boolean doExp)
    This method returns the x-axis value of the left stick.
    double
    getLeftStickX(double cubicCoefficient)
    This method returns the x-axis value of the left stick using the cubic polynomial curve.
    double
    getLeftStickY()
    This method returns the y-axis value of the left stick.
    double
    getLeftStickY(boolean doExp)
    This method returns the y-axis value of the left stick.
    double
    getLeftStickY(double cubicCoefficient)
    This method returns the y-axis value of the left stick using the cubic polynomial curve.
    double
    getLeftStickZ()
    This method returns the z-axis value of the left stick.
    double
    getLeftStickZ(boolean doExp)
    This method returns the z-axis value of the left stick.
    double
    getLeftStickZ(double cubicCoefficient)
    This method returns the z-axis value of the left stick using the cubic polynomial curve.
    double
    getLeftThrottle()
    This method returns the throttle value of the left joystick.
    double
    getLeftThrottle(boolean doExp)
    This method returns the throttle value of the left joystick.
    double
    getLeftThrottle(double cubicCoefficient)
    This method returns the throttle value of the left joystick using the cubic polynomial curve.
    double
    getRightStickTwist()
    This method returns the twist-axis value of the right stick.
    double
    getRightStickTwist(boolean doExp)
    This method returns the twist-axis value of the right stick.
    double
    getRightStickTwist(double cubicCoefficient)
    This method returns the twist-axis value of the right stick using the cubic polynomial curve.
    double
    getRightStickX()
    This method returns the x-axis value of the right stick.
    double
    getRightStickX(boolean doExp)
    This method returns the x-axis value of the right stick.
    double
    getRightStickX(double cubicCoefficient)
    This method returns the x-axis value of the right stick using the cubic polynomial curve.
    double
    getRightStickY()
    This method returns the y-axis value of the right stick.
    double
    getRightStickY(boolean doExp)
    This method returns the y-axis value of the right stick.
    double
    getRightStickY(double cubicCoefficient)
    This method returns the y-axis value of the right stick using the cubic polynomial curve.
    double
    getRightStickZ()
    This method returns the z-axis value of the right stick.
    double
    getRightStickZ(boolean doExp)
    This method returns the z-axis value of the right stick.
    double
    getRightStickZ(double cubicCoefficient)
    This method returns the z-axis value of the right stick using the cubic polynomial curve.
    double
    getRightThrottle()
    This method returns the throttle value of the right joystick.
    double
    getRightThrottle(boolean doExp)
    This method returns the throttle value of the right joystick.
    double
    getRightThrottle(double cubicCoefficient)
    This method returns the throttle value of the right joystick using the cubic polynomial curve.
    protected void
    notifyButtonEvent(int buttonValue, boolean pressed)
    This method is called when a button event is detected.
    void
    setButtonEventHandler(FrcDualJoystick.ButtonEventHandler buttonEventHandler)
    This method sets the button event handler for the joystick buttons.
    void
    setLeftStickInverted(boolean xInverted, boolean yInverted)
    This method inverts the analog axes of the left joystick.
    void
    setLeftStickInverted(boolean xInverted, boolean yInverted, boolean zInverted, boolean twistInverted)
    This method inverts the analog axes of the left joystick.
    void
    setRightStickInverted(boolean xInverted, boolean yInverted)
    This method inverts the analog axes of the right joystick.
    void
    setRightStickInverted(boolean xInverted, boolean yInverted, boolean zInverted, boolean twistInverted)
    This method inverts the analog axes of the right joystick.

    Methods inherited from class trclib.driverio.TrcGameController

    adjustAnalogControl, adjustAnalogControl, getDirectionDegrees, getDirectionRadians, getMagnitude, init, setButtonEventEnabled, setExponent, setSamplingPeriod, toString

    Methods inherited from class java.lang.Object

    clone, equals, finalize, getClass, hashCode, notify, notifyAll, wait, wait, wait

  • Field Details

    • leftJoystick

      public final edu.wpi.first.wpilibj.Joystick leftJoystick

    • rightJoystick

      public final edu.wpi.first.wpilibj.Joystick rightJoystick

  • Constructor Details

    • FrcDualJoystick

      public FrcDualJoystick(String instanceName, int leftPort, int rightPort, double deadbandThreshold)
      Constructor: Create an instance of the object.
      Parameters:
      instanceName - specifies the instance name.
      leftPort - specifies the USB port for the left joystick.
      rightPort - specifies the USB port for the left joystick.
      deadbandThreshold - specifies the deadband of the analog joysticks.

    • FrcDualJoystick

      public FrcDualJoystick(String instanceName, int leftPort, int rightPort)
      Constructor: Create an instance of the object.
      Parameters:
      instanceName - specifies the instance name.
      leftPort - specifies the USB port for the left joystick.
      rightPort - specifies the USB port for the left joystick.

  • Method Details

    • setButtonEventHandler

      public void setButtonEventHandler(FrcDualJoystick.ButtonEventHandler buttonEventHandler)
      This method sets the button event handler for the joystick buttons.
      Parameters:
      buttonEventHandler - specifies button event notification handler, null to disable event notification.

    • setLeftStickInverted

      public void setLeftStickInverted(boolean xInverted, boolean yInverted, boolean zInverted, boolean twistInverted)
      This method inverts the analog axes of the left joystick.
      Parameters:
      xInverted - specifies true if inverting the x-axis, false otherwise.
      yInverted - specifies true if inverting the y-axis, false otherwise.
      zInverted - specifies true if inverting the z-axis, false otherwise.
      twistInverted - specifies true if inverting the twist-axis, false otherwise.

    • setLeftStickInverted

      public void setLeftStickInverted(boolean xInverted, boolean yInverted)
      This method inverts the analog axes of the left joystick.
      Parameters:
      xInverted - specifies true if inverting the x-axis, false otherwise.
      yInverted - specifies true if inverting the y-axis, false otherwise.

    • setRightStickInverted

      public void setRightStickInverted(boolean xInverted, boolean yInverted, boolean zInverted, boolean twistInverted)
      This method inverts the analog axes of the right joystick.
      Parameters:
      xInverted - specifies true if inverting the x-axis, false otherwise.
      yInverted - specifies true if inverting the y-axis, false otherwise.
      zInverted - specifies true if inverting the z-axis, false otherwise.
      twistInverted - specifies true if inverting the twist-axis, false otherwise.

    • setRightStickInverted

      public void setRightStickInverted(boolean xInverted, boolean yInverted)
      This method inverts the analog axes of the right joystick.
      Parameters:
      xInverted - specifies true if inverting the x-axis, false otherwise.
      yInverted - specifies true if inverting the y-axis, false otherwise.

    • getLeftStickX

      public double getLeftStickX(double cubicCoefficient)
      This method returns the x-axis value of the left stick using the cubic polynomial curve.
      Parameters:
      cubicCoefficient - specifies the cubic coefficient.
      Returns:
      x-axis value of the left stick.

    • getLeftStickX

      public double getLeftStickX(boolean doExp)
      This method returns the x-axis value of the left stick.
      Parameters:
      doExp - specifies true if the value should be raised exponentially, false otherwise. If the value is raised exponentially, it gives you more precise control on the low end values.
      Returns:
      x-axis value of the left stick.

    • getLeftStickX

      public double getLeftStickX()
      This method returns the x-axis value of the left stick.
      Returns:
      x-axis value of the left stick.

    • getLeftStickY

      public double getLeftStickY(double cubicCoefficient)
      This method returns the y-axis value of the left stick using the cubic polynomial curve.
      Parameters:
      cubicCoefficient - specifies the cubic coefficient.
      Returns:
      y-axis value of the left stick.

    • getLeftStickY

      public double getLeftStickY(boolean doExp)
      This method returns the y-axis value of the left stick.
      Parameters:
      doExp - specifies true if the value should be raised exponentially, false otherwise. If the value is raised exponentially, it gives you more precise control on the low end values.
      Returns:
      y-axis value of the left stick.

    • getLeftStickY

      public double getLeftStickY()
      This method returns the y-axis value of the left stick.
      Returns:
      y-axis value of the left stick.

    • getLeftStickZ

      public double getLeftStickZ(double cubicCoefficient)
      This method returns the z-axis value of the left stick using the cubic polynomial curve.
      Parameters:
      cubicCoefficient - specifies the cubic coefficient.
      Returns:
      z-axis value of the left stick.

    • getLeftStickZ

      public double getLeftStickZ(boolean doExp)
      This method returns the z-axis value of the left stick.
      Parameters:
      doExp - specifies true if the value should be raised exponentially, false otherwise. If the value is raised exponentially, it gives you more precise control on the low end values.
      Returns:
      z-axis value of the left stick.

    • getLeftStickZ

      public double getLeftStickZ()
      This method returns the z-axis value of the left stick.
      Returns:
      z-axis value of the left stick.

    • getLeftStickTwist

      public double getLeftStickTwist(double cubicCoefficient)
      This method returns the twist-axis value of the left stick using the cubic polynomial curve.
      Parameters:
      cubicCoefficient - specifies the cubic coefficient.
      Returns:
      twist-axis value of the left stick.

    • getLeftStickTwist

      public double getLeftStickTwist(boolean doExp)
      This method returns the twist-axis value of the left stick.
      Parameters:
      doExp - specifies true if the value should be raised exponentially, false otherwise. If the value is raised exponentially, it gives you more precise control on the low end values.
      Returns:
      twist-axis value of the left stick.

    • getLeftStickTwist

      public double getLeftStickTwist()
      This method returns the twist-axis value of the left stick.
      Returns:
      twist-axis value of the left stick.

    • getRightStickX

      public double getRightStickX(double cubicCoefficient)
      This method returns the x-axis value of the right stick using the cubic polynomial curve.
      Parameters:
      cubicCoefficient - specifies the cubic coefficient.
      Returns:
      x-axis value of the right stick.

    • getRightStickX

      public double getRightStickX(boolean doExp)
      This method returns the x-axis value of the right stick.
      Parameters:
      doExp - specifies true if the value should be raised exponentially, false otherwise. If the value is raised exponentially, it gives you more precise control on the low end values.
      Returns:
      x-axis value of the right stick.

    • getRightStickX

      public double getRightStickX()
      This method returns the x-axis value of the right stick.
      Returns:
      x-axis value of the right stick.

    • getRightStickY

      public double getRightStickY(double cubicCoefficient)
      This method returns the y-axis value of the right stick using the cubic polynomial curve.
      Parameters:
      cubicCoefficient - specifies the cubic coefficient.
      Returns:
      y-axis value of the right stick.

    • getRightStickY

      public double getRightStickY(boolean doExp)
      This method returns the y-axis value of the right stick.
      Parameters:
      doExp - specifies true if the value should be raised exponentially, false otherwise. If the value is raised exponentially, it gives you more precise control on the low end values.
      Returns:
      y-axis value of the right stick.

    • getRightStickY

      public double getRightStickY()
      This method returns the y-axis value of the right stick.
      Returns:
      y-axis value of the right stick.

    • getRightStickZ

      public double getRightStickZ(double cubicCoefficient)
      This method returns the z-axis value of the right stick using the cubic polynomial curve.
      Parameters:
      cubicCoefficient - specifies the cubic coefficient.
      Returns:
      z-axis value of the right stick.

    • getRightStickZ

      public double getRightStickZ(boolean doExp)
      This method returns the z-axis value of the right stick.
      Parameters:
      doExp - specifies true if the value should be raised exponentially, false otherwise. If the value is raised exponentially, it gives you more precise control on the low end values.
      Returns:
      z-axis value of the right stick.

    • getRightStickZ

      public double getRightStickZ()
      This method returns the z-axis value of the right stick.
      Returns:
      z-axis value of the right stick.

    • getRightStickTwist

      public double getRightStickTwist(double cubicCoefficient)
      This method returns the twist-axis value of the right stick using the cubic polynomial curve.
      Parameters:
      cubicCoefficient - specifies the cubic coefficient.
      Returns:
      twist-axis value of the right stick.

    • getRightStickTwist

      public double getRightStickTwist(boolean doExp)
      This method returns the twist-axis value of the right stick.
      Parameters:
      doExp - specifies true if the value should be raised exponentially, false otherwise. If the value is raised exponentially, it gives you more precise control on the low end values.
      Returns:
      twist-axis value of the right stick.

    • getRightStickTwist

      public double getRightStickTwist()
      This method returns the twist-axis value of the right stick.
      Returns:
      twist-axis value of the right stick.

    • getLeftThrottle

      public double getLeftThrottle(double cubicCoefficient)
      This method returns the throttle value of the left joystick using the cubic polynomial curve.
      Parameters:
      cubicCoefficient - specifies the cubic coefficient.
      Returns:
      throttle value of the left joystick.

    • getLeftThrottle

      public double getLeftThrottle(boolean doExp)
      This method returns the throttle value of the left joystick.
      Parameters:
      doExp - specifies true if the value should be raised exponentially, false otherwise. If the value is raised exponentially, it gives you more precise control on the low end values.
      Returns:
      throttle value of the left joystick.

    • getLeftThrottle

      public double getLeftThrottle()
      This method returns the throttle value of the left joystick.
      Returns:
      throttle value of the left joystick.

    • getRightThrottle

      public double getRightThrottle(double cubicCoefficient)
      This method returns the throttle value of the right joystick using the cubic polynomial curve.
      Parameters:
      cubicCoefficient - specifies the cubic coefficient.
      Returns:
      throttle value of the right joystick.

    • getRightThrottle

      public double getRightThrottle(boolean doExp)
      This method returns the throttle value of the right joystick.
      Parameters:
      doExp - specifies true if the value should be raised exponentially, false otherwise. If the value is raised exponentially, it gives you more precise control on the low end values.
      Returns:
      throttle value of the right joystick.

    • getRightThrottle

      public double getRightThrottle()
      This method returns the throttle value of the right joystick.
      Returns:
      throttle value of the right joystick.

    • getDriveInputs

      public double[] getDriveInputs(TrcGameController.DriveMode driveMode, boolean doExp, double drivePowerScale, double turnPowerScale)
      This method reads various joystick/gamepad control values and returns the drive powers for all three degrees of robot movement.
      Parameters:
      driveMode - specifies the drive mode which determines the control mappings.
      doExp - specifies true if the value should be raised exponentially, false otherwise. If the value is raised exponentially, it gives you more precise control on the low end values.
      drivePowerScale - specifies the scaling factor for drive power.
      turnPowerScale - specifies the scaling factor for turn power.
      Returns:
      an array of 3 values for x, y and rotation power.

    • getDriveInputs

      public double[] getDriveInputs(TrcGameController.DriveMode driveMode, boolean doExp)
      This method reads various joystick/gamepad control values and returns the drive powers for all three degrees of robot movement.
      Parameters:
      driveMode - specifies the drive mode which determines the control mappings.
      doExp - specifies true if the value should be raised exponentially, false otherwise. If the value is raised exponentially, it gives you more precise control on the low end values.
      Returns:
      an array of 3 values for x, y and rotation power.

    • getButtons

      public int getButtons()
      This method returns the button states in an integer by combining all the button states.
      Specified by:
      getButtons in class TrcGameController
      Returns:
      button states.

    • notifyButtonEvent

      protected void notifyButtonEvent(int buttonValue, boolean pressed)
      This method is called when a button event is detected. It translates the button value into button type and calls the button event handler.
      Specified by:
      notifyButtonEvent in class TrcGameController
      Parameters:
      buttonValue - specifies the button value that generated the event.
      pressed - specifies true if the button is pressed, false if it is released.