edu.wpi.first.wpilibj.Joystick Java Examples

/**
     * simple rocket league drive code (not actually rocket league)
     * independent rotation and acceleration
     */
    public void driveRLTank(Joystick joy, double ramp, double inhibitor) {
        double adder = Xbox.RT(joy) - Xbox.LT(joy);
        double left = adder + (Xbox.LEFT_X(joy) / 1.333333);
        double right = adder - (Xbox.LEFT_X(joy) / 1.333333);
        left = (left > 1.0 ? 1.0 : (left < -1.0 ? -1.0 : left));
        right = (right > 1.0 ? 1.0 : (right < -1.0 ? -1.0 : right));
        setRamps(ramp);

//        if (getYAngle() > Constants.TILT_ANGLE ) {
//            leftMaster.set(ControlMode.PercentOutput, -1*Constants.RECOVERY_SPEED);
//            rightMaster.set(ControlMode.PercentOutput, -1*Constants.RECOVERY_SPEED);
//        } else if (getYAngle() < -1*Constants.TILT_ANGLE){
//            leftMaster.set(ControlMode.PercentOutput, Constants.RECOVERY_SPEED);
//            rightMaster.set(ControlMode.PercentOutput, Constants.RECOVERY_SPEED);
//        } else {
            leftMaster.set(ControlMode.PercentOutput, leftify(left));
            rightMaster.set(ControlMode.PercentOutput, rightify(right));
//        }
    }
 

/**
 * Create a Microsoft Xbox360 gamepad controlled by the Driver Station.
 *
 * @param port the port on the driver station that the gamepad is plugged into
 * @return the input device; never null
 */
public static Gamepad xbox360(int port) {
    Joystick joystick = new Joystick(port);
    verifyJoystickConnected(joystick);
    return Gamepad.create(joystick::getRawAxis,
                          joystick::getRawButton,
                          joystick::getPOV,
                          () -> joystick.getRawAxis(0),
                          () -> joystick.getRawAxis(1) * -1,
                          () -> joystick.getRawAxis(4),
                          () -> joystick.getRawAxis(5) * -1,
                          () -> joystick.getRawAxis(2),
                          () -> joystick.getRawAxis(3),
                          () -> joystick.getRawButton(5),
                          () -> joystick.getRawButton(6),
                          () -> joystick.getRawButton(1),
                          () -> joystick.getRawButton(2),
                          () -> joystick.getRawButton(3),
                          () -> joystick.getRawButton(4),
                          () -> joystick.getRawButton(8),
                          () -> joystick.getRawButton(7),
                          () -> joystick.getRawButton(9),
                          () -> joystick.getRawButton(10));
}
 

/**
 * Create a Logitech F310 gamepad controlled by the Driver Station.
 *
 * @param port the port on the driver station that the gamepad is plugged into
 * @return the input device; never null
 */
public static Gamepad logitechF310(int port) {
    Joystick joystick = new Joystick(port);
    verifyJoystickConnected(joystick);
    return Gamepad.create(joystick::getRawAxis,
                          joystick::getRawButton,
                          joystick::getPOV,
                          () -> joystick.getRawAxis(0),
                          () -> joystick.getRawAxis(1) * -1,
                          () -> joystick.getRawAxis(4),
                          () -> joystick.getRawAxis(5) * -1,
                          () -> joystick.getRawAxis(2),
                          () -> joystick.getRawAxis(3),
                          () -> joystick.getRawButton(4),
                          () -> joystick.getRawButton(5),
                          () -> joystick.getRawButton(0),
                          () -> joystick.getRawButton(1),
                          () -> joystick.getRawButton(2),
                          () -> joystick.getRawButton(3),
                          () -> joystick.getRawButton(7),
                          () -> joystick.getRawButton(6),
                          () -> joystick.getRawButton(8),
                          () -> joystick.getRawButton(9));
}
 

/**
 * Create a Logitech DualAction gamepad controlled by the Driver Station.
 *
 * @param port the port on the driver station that the gamepad is plugged into
 * @return the input device; never null
 */
public static Gamepad logitechDualAction(int port) {
    Joystick joystick = new Joystick(port);
    verifyJoystickConnected(joystick);
    return Gamepad.create(joystick::getRawAxis,
                          joystick::getRawButton,
                          joystick::getPOV,
                          () -> joystick.getRawAxis(0),
                          () -> joystick.getRawAxis(1) * -1,
                          () -> joystick.getRawAxis(2),
                          () -> joystick.getRawAxis(3) * -1,
                          () -> joystick.getRawButton(6) ? 1.0 : 0.0,
                          () -> joystick.getRawButton(7) ? 1.0 : 0.0,
                          () -> joystick.getRawButton(4),
                          () -> joystick.getRawButton(5),
                          () -> joystick.getRawButton(1),
                          () -> joystick.getRawButton(2),
                          () -> joystick.getRawButton(0),
                          () -> joystick.getRawButton(3),
                          () -> joystick.getRawButton(9),
                          () -> joystick.getRawButton(8),
                          () -> joystick.getRawButton(10),
                          () -> joystick.getRawButton(11));
}
 

/** raise the mast at RT-LR trigger speed */
  public void moveBySpeed(Joystick joy, double inhibitor) {
  	double dualAction = Xbox.RT(joy) - Xbox.LT(joy);
  	double screwSpeed = Xbox.LEFT_Y(joy) + dualAction;
  	double pinionSpeed = Xbox.RIGHT_Y(joy) + dualAction;
  	
if (!lowerPinionLimit.get() && pinionSpeed > 0)   { pinionSpeed = 0; }
if (!upperPinionLimit.get() && pinionSpeed < 0)   { pinionSpeed = 0; }
if (!lowerScrewLimit.get()  && screwSpeed  > 0)   { screwSpeed = 0;  }
if (!upperScrewLimit.get()  && screwSpeed  < 0)   { screwSpeed = 0;  }
	
  	publishSwitches();
  	if (!override) {
  		leftPinion.set(ControlMode.PercentOutput, leftPinionate(pinionSpeed));
      	rightPinion.set(ControlMode.PercentOutput, rightPinionate(pinionSpeed));
      	screw.set(ControlMode.PercentOutput, inhibitor * screwify(screwSpeed));
  	}
  }
 

/** imitates an engine revving and idling */
public void rev(Joystick joy) {
	double intensity = Math.abs(Math.sqrt((Math.pow(Xbox.LEFT_X(joy), 2) + Math.pow(Xbox.LEFT_X(joy), 2)))); // intensity is 0.0-1.0, power of trigger
	
	int rpm = (int) ((((double) Constants.REDLINE - (double) Constants.IDLE) * intensity) + Constants.IDLE); // rpm is the rpm being imitated
	int miliseconds = (1 / rpm) * 60000; // length in miliseconds of each rev curve, based on rpm
	
	if (!revving) { redlineTime = System.currentTimeMillis(); revving = true; } // reset rev curve if not revving
		else if (System.currentTimeMillis() - redlineTime >= miliseconds) { revving = false; } // stop revving if time is up
	
	double speed = (System.currentTimeMillis() - redlineTime) / (double) miliseconds; // set speed to progress from 0.0-1.0 of the curve
	speed = speed > 1.0 ? 1.0 : speed; // quick concat the speed under 1.0
	
	speed = generateCurve(speed, 0, .25 * (intensity * .8 + .2), (intensity * .8 + .2)); // find y value on curve, given x and parameters
	
	armLeft.set(ControlMode.PercentOutput, leftArmify(speed));
	armRight.set(ControlMode.PercentOutput, rightArmify(speed));
}
 

/**
 * Create a Microsoft SideWinder flight stick controlled by the Driver Station.
 *
 * @param port the port on the driver station that the flight stick is plugged into
 * @return the input device; never null
 */
public static FlightStick microsoftSideWinder(int port) {
    Joystick joystick = new Joystick(port);
    verifyJoystickConnected(joystick);
    return FlightStick.create(joystick::getRawAxis,
                              joystick::getRawButton,
                              joystick::getPOV,
                              () -> joystick.getY() * -1, // pitch is reversed
                              joystick::getTwist, // yaw
                              joystick::getX, // roll
                              joystick::getThrottle, // throttle
                              () -> joystick.getRawButton(1), // trigger
                              () -> joystick.getRawButton(2)); // thumb
}
 

/**
 * Create a Logitech Extreme 3D flight stick controlled by the Driver Station.
 *
 * @param port the port on the driver station that the flight stick is plugged into
 * @return the input device; never null
 */
public static FlightStick logitechExtreme3D(int port) {
    Joystick joystick = new Joystick(port);
    verifyJoystickConnected(joystick);
    return FlightStick.create(joystick::getRawAxis,
                              joystick::getRawButton,
                              joystick::getPOV,
                              joystick::getY, // pitch
                              joystick::getTwist, // yaw
                              joystick::getX, // roll
                              joystick::getThrottle, // flapper thing on bottom
                              () -> joystick.getRawButton(1), // trigger
                              () -> joystick.getRawButton(2)); // thumb
}
 

/**
 * Create a Logitech Attack 3 flight stick controlled by the Driver Station.
 *
 * @param port the port on the driver station that the flight stick is plugged into
 * @return the input device; never null
 */
public static FlightStick logitechAttack3D(int port) {
    Joystick joystick = new Joystick(port);
    verifyJoystickConnected(joystick);
    return FlightStick.create(joystick::getRawAxis,
                              joystick::getRawButton,
                              joystick::getPOV,
                              joystick::getY, // pitch
                              () -> joystick.getTwist() * -1, // yaw is reversed
                              joystick::getX, // roll
                              joystick::getThrottle, // throttle
                              () -> joystick.getRawButton(1), // trigger
                              () -> joystick.getRawButton(2)); // thumb
}
 

/**
     * drive code where rotation is dependent on acceleration
     * @param radius 0.00-1.00, 1 being zero radius and 0 being driving in a line
     */
    public void driveForza(Joystick joy, double ramp, double radius, double inhibitor) {
        double left = 0,
                right = 0;
        double acceleration = Xbox.RT(joy) - Xbox.LT(joy);

        setRamps(ramp);
//        if (getYAngle() > Constants.TILT_ANGLE ) {
//            leftMaster.set(ControlMode.PercentOutput, -1 * Constants.RECOVERY_SPEED);
//            rightMaster.set(ControlMode.PercentOutput, -1 * Constants.RECOVERY_SPEED);
//        } else if (getYAngle() < -1 * Constants.TILT_ANGLE){
//            leftMaster.set(ControlMode.PercentOutput, Constants.RECOVERY_SPEED);
//            rightMaster.set(ControlMode.PercentOutput, Constants.RECOVERY_SPEED);
//        } else {

            if (!reversing ? Xbox.LEFT_X(joy) < 0 : Xbox.LEFT_X(joy) > 0) {
                right = acceleration;
                left = (acceleration * ((2 * (1 - Math.abs(Xbox.LEFT_X(joy)))) - 1)) / radius;
            } else if (!reversing ? Xbox.LEFT_X(joy) > 0 : Xbox.LEFT_X(joy) < 0) {
                left = acceleration;
                right = (acceleration * ((2 * (1 - Math.abs(Xbox.LEFT_X(joy)))) - 1)) / radius;
            } else {
                left = acceleration;
                right = acceleration;
            }
//        }][\
        left = (left > 1.0 ? 1.0 : (left < -1.0 ? -1.0 : left));
        right = (right > 1.0 ? 1.0 : (right < -1.0 ? -1.0 : right));
        leftMaster.set(ControlMode.PercentOutput, leftify(left) * inhibitor * (reversing ? -1.0 : 1.0));
        rightMaster.set(ControlMode.PercentOutput, rightify(right) * inhibitor * (reversing ? -1.0 : 1.0));

        SmartDashboard.putString("Left Master", "Left Master Voltage: " + leftMaster.getBusVoltage());
        SmartDashboard.putString("Right Master", "Right Master Voltage: " + rightMaster.getBusVoltage());
    }
 

public void spinByJoystick(Joystick joy) {
	int speed = 0;
	speed += joy.getRawButton(Xbox.RB) ? 1d : 0d;
	speed -= joy.getRawButton(Xbox.LB) ? 1d : 0d;
	armLeft.set(ControlMode.PercentOutput, leftArmify(speed));
	armRight.set(ControlMode.PercentOutput, rightArmify(speed));
}
 

private GamepadDriveControlBoard() {
    mJoystick = new Joystick(Constants.kDriveGamepadPort);
}
 

XboxController(int port) {
    mController = new Joystick(port);
}
 

private GamepadButtonControlBoard() {
    mJoystick = new Joystick(Constants.kButtonGamepadPort);
}
 

private MainButtonBoard() {
    mButtonBoard = new Joystick(2);
}
 

private static void verifyJoystickConnected(Joystick joystick) {
    joystick.getButtonCount();
}
 

private MainDriveControlBoard() {
    mThrottleStick = new Joystick(Constants.kMainThrottleJoystickPort);
    mTurnStick = new Joystick(Constants.kMainTurnJoystickPort);
}
 

private MainDriveControlBoard() {
    mThrottleStick = new Joystick(Constants.kMainThrottleJoystickPort);
    mTurnStick = new Joystick(Constants.kMainTurnJoystickPort);
}
 

/**
 * Create an generic input device controlled by the Driver Station.
 *
 * @param port the port on the driver station that the joystick is plugged into
 * @return the input device; never null
 */
public static InputDevice driverStationJoystick(int port) {
    Joystick joystick = new Joystick(port);
    verifyJoystickConnected(joystick);
    return InputDevice.create(joystick::getRawAxis, joystick::getRawButton, joystick::getPOV);
}
 

public static double LEFT_X(Joystick joy) {return deadzone(joy.getRawAxis(0));} 

public static double RT(Joystick joy) {return joy.getRawAxis(3);} 

public static double LT(Joystick joy) {return joy.getRawAxis(2);} 

public static double RIGHT_Y(Joystick joy) {return deadzone(joy.getRawAxis(5));} 

public static double RIGHT_X(Joystick joy) {return deadzone(joy.getRawAxis(4));} 

public static double LEFT_Y(Joystick joy) {return deadzone(joy.getRawAxis(1));}