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Operator board interface, no implementation (#14)
- added operator board interface - cleaned up several files
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,117 @@ | ||
| package frc.robot; | ||
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| import edu.wpi.first.wpilibj.Joystick; | ||
| import edu.wpi.first.wpilibj2.command.button.Button; | ||
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| /** | ||
| * A wrapper class for our custom-made operator board. Does not have a | ||
| * constructor. Access statically. Access Buttons via public static state. | ||
| * Access axis values via methods. Use methods to make buttons light up. | ||
| */ | ||
| public class OperatorBoard { | ||
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| private static Joystick HARDWARE; | ||
| public OperatorBoardButton BUTTON_ONE; | ||
| public OperatorBoardButton BUTTON_TWO; | ||
| public OperatorBoardButton BUTTON_THREE; | ||
| public OperatorBoardButton BUTTON_SIX; | ||
| public OperatorBoardButton BUTTON_ELEVEN; | ||
| public OperatorBoardButton BUTTON_TWELVE; | ||
| public OperatorBoardButton BUTTON_THIRTEEN; | ||
| public OperatorBoardButton BUTTON_FOURTEEN; | ||
| // TODO rename these, and use lowercase camel case names | ||
|
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| /** | ||
| * Constructs one operator board. Since we only have one operator board, this | ||
| * class should be treated as a singleton. | ||
| * | ||
| * @param port The USB port number for the controller | ||
| */ | ||
| public OperatorBoard(int port) { | ||
| HARDWARE = new Joystick(port); | ||
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| BUTTON_ONE = new OperatorBoardButton(1); | ||
| BUTTON_TWO = new OperatorBoardButton(2); | ||
| BUTTON_THREE = new OperatorBoardButton(3); | ||
| BUTTON_SIX = new OperatorBoardButton(6); | ||
| BUTTON_ELEVEN = new OperatorBoardButton(11); | ||
| BUTTON_TWELVE = new OperatorBoardButton(12); | ||
| BUTTON_THIRTEEN = new OperatorBoardButton(13); | ||
| BUTTON_FOURTEEN = new OperatorBoardButton(14); | ||
| } | ||
|
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| /** | ||
| * Access the x-axis of the left joystick. | ||
| * | ||
| * @return Left is negative, right is positive. | ||
| */ | ||
| public double getLeftJoystickX() { | ||
| return -HARDWARE.getRawAxis(0); | ||
| // This value is negated because something is weird with the wiring. | ||
| } | ||
|
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| /** | ||
| * Access the y-axis of the left joystick. | ||
| * | ||
| * @return Up is negative, down is positive. | ||
| */ | ||
| public double getLeftJoystickY() { | ||
| return HARDWARE.getRawAxis(1); | ||
| } | ||
|
|
||
| /** | ||
| * Access the x-axis of the right joystick. | ||
| * | ||
| * @return Up is negative, down is positive. | ||
| */ | ||
| public double getRightJoystickX() { | ||
| return HARDWARE.getRawAxis(2); | ||
| } | ||
|
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| /** | ||
| * Access the y-axis of the right joystick. | ||
| * | ||
| * @return Up is negative, down is positive. | ||
| */ | ||
| public double getRightJoystickY() { | ||
| return HARDWARE.getRawAxis(3); | ||
| } | ||
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| /** | ||
| * A custom button class for the operator board. | ||
| */ | ||
| public class OperatorBoardButton extends Button { | ||
| private int m_buttonNumber; | ||
|
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| /** | ||
| * Constructs an OperatorBoardButton with a designated numerical ID | ||
| * @param button The button's number - a sort of ID | ||
| */ | ||
| public OperatorBoardButton(int button) { | ||
| m_buttonNumber = button; | ||
| } | ||
|
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||
| /** | ||
| * Returns whether the button is being pressed. | ||
| * @return Whether or not the button is being pressed. | ||
| */ | ||
| @Override | ||
| public boolean get() { | ||
| return HARDWARE.getRawButton(m_buttonNumber); | ||
| } | ||
|
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| /** | ||
| * Turns the button's light on, and keeps it on until turnLightOff() is called. | ||
| */ | ||
| public void turnLightOn() { | ||
| HARDWARE.setOutput(m_buttonNumber, true); | ||
| } | ||
|
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| /** | ||
| * Turns the button's light off, and keeps it off until turnLightOn() is called. | ||
| */ | ||
| public void turnLightOff() { | ||
| HARDWARE.setOutput(m_buttonNumber, false); | ||
| } | ||
| } | ||
| } |
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