Package frc.spectrumLib.gamepads

Class Gamepad

java.lang.Object
frc.spectrumLib.gamepads.Gamepad
All Implemented Interfaces:
edu.wpi.first.wpilibj2.command.Subsystem, SpectrumSubsystem
Direct Known Subclasses:
Operator, Pilot
public abstract class Gamepad extends Object implements SpectrumSubsystem

  • Field Details

    • kFalse

      public static final Trigger kFalse

    • A

      protected Trigger A

    • B

      protected Trigger B

    • X

      protected Trigger X

    • Y

      protected Trigger Y

    • leftBumper

      protected Trigger leftBumper

    • rightBumper

      protected Trigger rightBumper

    • leftTrigger

      protected Trigger leftTrigger

    • rightTrigger

      protected Trigger rightTrigger

    • leftStickClick

      protected Trigger leftStickClick

    • rightStickClick

      protected Trigger rightStickClick

    • start

      protected Trigger start

    • select

      protected Trigger select

    • upDpad

      protected Trigger upDpad

    • downDpad

      protected Trigger downDpad

    • leftDpad

      protected Trigger leftDpad

    • rightDpad

      protected Trigger rightDpad

    • leftStickY

      protected Trigger leftStickY

    • leftStickX

      protected Trigger leftStickX

    • rightStickY

      protected Trigger rightStickY

    • rightStickX

      protected Trigger rightStickX

    • noBumpers

      public Trigger noBumpers

    • leftBumperOnly

      public Trigger leftBumperOnly

    • rightBumperOnly

      public Trigger rightBumperOnly

    • bothBumpers

      public Trigger bothBumpers

    • noTriggers

      public Trigger noTriggers

    • leftTriggerOnly

      public Trigger leftTriggerOnly

    • rightTriggerOnly

      public Trigger rightTriggerOnly

    • bothTriggers

      public Trigger bothTriggers

    • noModifiers

      public Trigger noModifiers

    • leftStickCurve

      protected final ExpCurve leftStickCurve

    • rightStickCurve

      protected final ExpCurve rightStickCurve

    • triggersCurve

      protected final ExpCurve triggersCurve

    • teleop

      protected Trigger teleop

    • autoMode

      protected Trigger autoMode

    • testMode

      protected Trigger testMode

    • disabled

      protected Trigger disabled

  • Constructor Details

    • Gamepad

      protected Gamepad(Gamepad.Config config)
      Constructs a Gamepad object with the specified configuration.
      Parameters:
      config - the configuration object containing settings for the gamepad

      The constructor initializes the following: - Superclass with port and attachment status from the configuration. - Curve objects for left stick, right stick, and triggers using exponential curves. - If the gamepad is attached, initializes the Xbox controller and its buttons, triggers, sticks, and D-pad.

  • Method Details

    • periodic

      public void periodic()
      Specified by:
      periodic in interface edu.wpi.first.wpilibj2.command.Subsystem

    • configure

      public void configure()

    • resetConfig

      public void resetConfig()

    • getLeftStickDirection

      public edu.wpi.first.math.geometry.Rotation2d getLeftStickDirection()

    • getRightStickDirection

      public edu.wpi.first.math.geometry.Rotation2d getRightStickDirection()

    • getLeftStickCardinals

      public double getLeftStickCardinals()

    • getRightStickCardinals

      public double getRightStickCardinals()

    • getLeftStickMagnitude

      public double getLeftStickMagnitude()

    • getRightStickMagnitude

      public double getRightStickMagnitude()

    • chooseCardinalDirections

      public double chooseCardinalDirections()
      Get proper stick angles for each alliance
      Returns:

    • getBlueAllianceStickCardinals

      public double getBlueAllianceStickCardinals()

    • getRedAllianceStickCardinals

      public double getRedAllianceStickCardinals()
      Flips the stick direction for the red alliance.
      Returns:

    • leftYTrigger

      public Trigger leftYTrigger(Gamepad.Threshold t, double threshold)

    • leftXTrigger

      public Trigger leftXTrigger(Gamepad.Threshold t, double threshold)

    • rightYTrigger

      public Trigger rightYTrigger(Gamepad.Threshold t, double threshold)

    • rightXTrigger

      public Trigger rightXTrigger(Gamepad.Threshold t, double threshold)

    • rightStick

      public Trigger rightStick(double threshold)

    • leftStick

      public Trigger leftStick(double threshold)

    • rumbleCommand

      public edu.wpi.first.wpilibj2.command.Command rumbleCommand(double leftIntensity, double rightIntensity, double durationSeconds)
      Command that can be used to rumble the pilot controller

    • rumbleCommand

      public edu.wpi.first.wpilibj2.command.Command rumbleCommand(double intensity, double durationSeconds)

    • rumbleCommand

      public edu.wpi.first.wpilibj2.command.Command rumbleCommand(edu.wpi.first.wpilibj2.command.Command command)
      Returns a new Command object that combines the given command with a rumble command. The rumble command has a rumble strength of 1 and a duration of 0.5 seconds. The name of the returned command is set to the name of the given command.
      Parameters:
      command - the command to be combined with the rumble command
      Returns:
      a new Command object with rumble command

    • isConnected

      public boolean isConnected()

    • getRightTriggerAxis

      protected double getRightTriggerAxis()

    • getLeftTriggerAxis

      protected double getLeftTriggerAxis()

    • getTwist

      protected double getTwist()

    • getLeftX

      protected double getLeftX()

    • getLeftY

      protected double getLeftY()

    • getRightX

      protected double getRightX()

    • getRightY

      protected double getRightY()

    • getHID

      protected edu.wpi.first.wpilibj.GenericHID getHID()

    • getRumbleHID

      protected edu.wpi.first.wpilibj.GenericHID getRumbleHID()

    • rumbleController

      public void rumbleController(double leftIntensity, double rightIntensity)

    • getLeftStickCurve

      public ExpCurve getLeftStickCurve()

    • getRightStickCurve

      public ExpCurve getRightStickCurve()

    • getTriggersCurve

      public ExpCurve getTriggersCurve()