Package ftclib.driverio

Class FtcGamepad

java.lang.Object

trclib.driverio.TrcGameController

ftclib.driverio.FtcGamepad

public class FtcGamepad
extends TrcGameController

This class implements the platform dependent gamepad. It provides monitoring of the gamepad 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	FtcGamepad.ButtonEventHandler	This interface, if provided, will allow this class to do a notification callback when there are button activities.
static enum	FtcGamepad.ButtonType

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

TrcGameController.DriveMode

Field Summary

Fields

Modifier and Type	Field	Description
private FtcGamepad.ButtonEventHandler	buttonEventHandler
private static HashMap<Integer,FtcGamepad.ButtonType>	buttonTypeMap
private static final double	DEF_DEADBAND_THRESHOLD
final com.qualcomm.robotcore.hardware.Gamepad	gamepad
private static final int	GAMEPAD_A
private static final int	GAMEPAD_B
private static final int	GAMEPAD_BACK
private static final int	GAMEPAD_DPAD_DOWN
private static final int	GAMEPAD_DPAD_LEFT
private static final int	GAMEPAD_DPAD_RIGHT
private static final int	GAMEPAD_DPAD_UP
private static final int	GAMEPAD_GUIDE
private static final int	GAMEPAD_LBUMPER
private static final int	GAMEPAD_LSTICK_BTN
private static final int	GAMEPAD_RBUMPER
private static final int	GAMEPAD_RSTICK_BTN
private static final int	GAMEPAD_START
private static final int	GAMEPAD_X
private static final int	GAMEPAD_Y
private int	leftXSign
private int	leftYSign
private int	rightXSign
private int	rightYSign

Fields inherited from class trclib.driverio.TrcGameController

instanceName, tracer

Constructor Summary

Constructors

Constructor	Description
FtcGamepad(String instanceName, com.qualcomm.robotcore.hardware.Gamepad gamepad)	Constructor: Create an instance of the object.
FtcGamepad(String instanceName, com.qualcomm.robotcore.hardware.Gamepad gamepad, 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	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	getLeftTrigger()	This method returns the left trigger value.
double	getLeftTrigger(boolean doExp)	This method returns the left trigger value.
double	getLeftTrigger(double cubicCoefficient)	This method returns the left trigger value 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	getRightTrigger()	This method returns the right trigger value.
double	getRightTrigger(boolean doExp)	This method returns the right trigger value.
double	getRightTrigger(double cubicCoefficient)	This method returns the right trigger value using the cubic polynomial curve.
double	getTrigger()	This method combines the left trigger and right trigger values to a value with a range of -1.0 to 1.0.
double	getTrigger(boolean doExp)	This method combines the left trigger and right trigger values to a value with a range of -1.0 to 1.0.
double	getTrigger(double cubicCoefficient)	This method combines the left trigger and right trigger values to a value with a range of -1.0 to 1.0 using the cubic polynomial curve.
protected void	notifyButtonEvent(int buttonValue, boolean pressed)	This method is called when a button event is detected.
void	setButtonEventHandler(FtcGamepad.ButtonEventHandler buttonEventHandler)	This method sets the button event handler.
void	setLeftStickInverted(boolean xInverted, boolean yInverted)	This method inverts the left analog stick axes.
void	setRightStickInverted(boolean xInverted, boolean yInverted)	This method inverts the right analog stick axes.

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

GAMEPAD_A

private static final int GAMEPAD_A

See Also:

• Constant Field Values

GAMEPAD_B

private static final int GAMEPAD_B

See Also:

• Constant Field Values

GAMEPAD_X

private static final int GAMEPAD_X

See Also:

• Constant Field Values

GAMEPAD_Y

private static final int GAMEPAD_Y

See Also:

• Constant Field Values

GAMEPAD_LBUMPER

private static final int GAMEPAD_LBUMPER

See Also:

• Constant Field Values

GAMEPAD_RBUMPER

private static final int GAMEPAD_RBUMPER

See Also:

• Constant Field Values

GAMEPAD_DPAD_UP

private static final int GAMEPAD_DPAD_UP

See Also:

• Constant Field Values

GAMEPAD_DPAD_DOWN

private static final int GAMEPAD_DPAD_DOWN

See Also:

• Constant Field Values

GAMEPAD_DPAD_LEFT

private static final int GAMEPAD_DPAD_LEFT

See Also:

• Constant Field Values

GAMEPAD_DPAD_RIGHT

private static final int GAMEPAD_DPAD_RIGHT

See Also:

• Constant Field Values

GAMEPAD_BACK

private static final int GAMEPAD_BACK

See Also:

• Constant Field Values

GAMEPAD_START

private static final int GAMEPAD_START

See Also:

• Constant Field Values

GAMEPAD_GUIDE

private static final int GAMEPAD_GUIDE

See Also:

• Constant Field Values

GAMEPAD_LSTICK_BTN

private static final int GAMEPAD_LSTICK_BTN

See Also:

• Constant Field Values

GAMEPAD_RSTICK_BTN

private static final int GAMEPAD_RSTICK_BTN

See Also:

• Constant Field Values

DEF_DEADBAND_THRESHOLD

private static final double DEF_DEADBAND_THRESHOLD

See Also:

• Constant Field Values

buttonTypeMap

private static HashMap<Integer,FtcGamepad.ButtonType> buttonTypeMap

gamepad

public final com.qualcomm.robotcore.hardware.Gamepad gamepad

buttonEventHandler

private FtcGamepad.ButtonEventHandler buttonEventHandler

leftXSign

private int leftXSign

leftYSign

private int leftYSign

rightXSign

private int rightXSign

rightYSign

private int rightYSign

Constructor Details

FtcGamepad

public FtcGamepad(String instanceName,
 com.qualcomm.robotcore.hardware.Gamepad gamepad,
 double deadbandThreshold)

Constructor: Create an instance of the object.

Parameters:

instanceName - specifies the instance name.

gamepad - specifies the gamepad associated with this instance.

deadbandThreshold - specifies the deadband of the gamepad analog sticks.

FtcGamepad

public FtcGamepad(String instanceName,
 com.qualcomm.robotcore.hardware.Gamepad gamepad)

Constructor: Create an instance of the object.

Parameters:

instanceName - specifies the instance name.

gamepad - specifies the gamepad associated with this instance.

Method Details

setButtonEventHandler

public void setButtonEventHandler(FtcGamepad.ButtonEventHandler buttonEventHandler)

This method sets the button event handler.

Parameters:

buttonEventHandler - specifies button event notification handler, null to disable event notification.

setLeftStickInverted

public void setLeftStickInverted(boolean xInverted,
 boolean yInverted)

This method inverts the left analog stick axes.

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)

This method inverts the right analog stick axes.

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.

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.

getLeftTrigger

public double getLeftTrigger(double cubicCoefficient)

This method returns the left trigger value using the cubic polynomial curve.

Parameters:

cubicCoefficient - specifies the cubic coefficient.

Returns:

left trigger value.

getLeftTrigger

public double getLeftTrigger(boolean doExp)

This method returns the left trigger value.

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:

left trigger value.

getLeftTrigger

public double getLeftTrigger()

This method returns the left trigger value.

Returns:

left trigger value.

getRightTrigger

public double getRightTrigger(double cubicCoefficient)

This method returns the right trigger value using the cubic polynomial curve.

Parameters:

cubicCoefficient - specifies the cubic coefficient.

Returns:

right trigger value.

getRightTrigger

public double getRightTrigger(boolean doExp)

This method returns the right trigger value.

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:

right trigger value.

getRightTrigger

public double getRightTrigger()

This method returns the right trigger value.

Returns:

right trigger value.

getTrigger

public double getTrigger(double cubicCoefficient)

This method combines the left trigger and right trigger values to a value with a range of -1.0 to 1.0 using the cubic polynomial curve.

Parameters:

cubicCoefficient - specifies the cubic coefficient.

Returns:

combined left and right trigger value.

getTrigger

public double getTrigger(boolean doExp)

This method combines the left trigger and right trigger values to a value with a range of -1.0 to 1.0.

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:

combined left and right trigger value.

getTrigger

public double getTrigger()

This method combines the left trigger and right trigger values to a value with a range of -1.0 to 1.0.

Returns:

combined left and right trigger value.

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.