-
Notifications
You must be signed in to change notification settings - Fork 5
Xbox360 Legacy Code
egordon edited this page Jan 8, 2013
·
1 revision
We want to port this code to java as soon as possible.
#ifndef XBOX360_H_
#define XBOX360_H_
#include <Joystick.h>
#include "WPILib.h"
//Edit this line to reflect the location of the CustomMath library
#include "../../CustomMath/CustomMath.h"
//Button Mappings
#include "XboxMap.h"
/**
* This class is designed to interface with an Xbox 360 controller to allow
* it to control the robot. It contains functions which will access
* all of the buttons and throttles on the controller.
*
* This class uses the Joystick class to interface with the Drivers Station
* to get the input from the controller
*
* This class relies on the library "CustomMath" which Team 2022 developed
* to provide a complete math library. Please edit the include line to match
* its location
*/
class Xbox360 : public Joystick
{
public:
//Constructor
explicit Xbox360(UINT32 port);
//Get Analog Stick Values -1 to 1 (Unchanged)
double GetLeftX();
double GetLeftY();
double GetRightX();
double GetRightY();
//Get Analog Trigger Value -1 to 1, left adds, right subtracts
double GetTriggers();
//Get Buttons for OI Class
JoystickButton* GetAButton();
JoystickButton* GetBButton();
JoystickButton* GetXButton();
JoystickButton* GetYButton();
JoystickButton* GetStartButton();
JoystickButton* GetBackButton();
JoystickButton* GetLeftBumper();
JoystickButton* GetRightBumper();
//Get Button Values Manually
bool GetAValue();
bool GetBValue();
bool GetXValue();
bool GetYValue();
bool GetLeftBumperValue();
bool GetRightBumperValue();
bool GetBackValue();
bool GetStartValue();
//Custom Get Angle Methods
double GetLeftAngle(bool reflectCircle);
double GetRightAngle(bool reflectCircle);
//Custom Get Magnitude Methods
double GetLeftMagnitude();
double GetRightMagnitude();
private:
float GetRawAxis(UINT32 axis);
bool GetRawButton(UINT32 button);
double Limit(double num);
};
#endif#ifndef XBOX_MAP_H
#define XBOX_MAP_H
//Axes
#define LEFT_XAXIS 1
#define LEFT_YAXIS 2
#define RIGHT_XAXIS 4
#define RIGHT_YAXIS 5
#define TRIGGERS 3
//Buttons
#define ABUTTON 1
#define BBUTTON 2
#define XBUTTON 3
#define YBUTTON 4
#define LEFT_BUMPER 5
#define RIGHT_BUMPER 6
#define BACK_BUTTON 7
#define START_BUTTON 8
#endif###Xbox360.cpp
#include <Joystick.h>
#include "Xbox360.h"
#include "XboxMap.h"
/**
* Creates an object to interace with an Xbox 360 controller
*
* @param port The port on the drivers station that the controller is connected to
*/
Xbox360::Xbox360(UINT32 port) :
Joystick(port) {
//Do nothing
}
/**
* Get the value of X of the left joystick.
* The right side of the axis is positive.
*
* @return The value of the axis from -1 to 1.
*/
double Xbox360::GetLeftX() {
return (GetRawAxis(LEFT_XAXIS));
}
/**
* Get the value of Y of the left joystick.
* The upward part of the axis is positive.
*
* @return The value of the axis from -1 to 1.
*/
double Xbox360::GetLeftY() {
return (-1 * GetRawAxis(LEFT_YAXIS)); //Multiply output by -1 because GetAxis() returns the axis backwards.
}
/**
* Get the value of X of the right joystick.
* The right side of the axis is positive.
*
* @return The value of the axis from -1 to 1.
*/
double Xbox360::GetRightX() {
return (GetRawAxis(RIGHT_XAXIS));
}
/**
* Get the value of Y of the right joystick.
* The upward part of the axis is positive.
*
* @return The value of the axis from -1 to 1.
*/
double Xbox360::GetRightY() {
return (-1 * GetRawAxis(RIGHT_YAXIS));
}
/**
* Get the value corresponding to the triggers.
* The left stick adds to it, the right stick subtracts. Range -1 to 1.
*
* @return The value corresponding to the triggers.
*/
double Xbox360::GetTriggers() {
return (GetRawAxis(TRIGGERS));
}
/**
* Get the current state of the A button.
*
* @return The current state of the button
*/
bool Xbox360::GetAValue() {
return (GetRawButton(1));
}
/**
* Get the current state of the B button.
*
* @return The current state of the button
*/
bool Xbox360::GetBValue() {
return (GetRawButton(2));
}
/**
* Get the current state of the X button.
*
* @return The current state of the button
*/
bool Xbox360::GetXValue() {
return (GetRawButton(3));
}
/**
* Get the current state of the Y button.
*
* @return The current state of the button
*/
bool Xbox360::GetYValue() {
return (GetRawButton(4));
}
/**
* Get the current state of the Left Bumper.
*
* @return The current state of the button
*/
bool Xbox360::GetLeftBumperValue() {
return (GetRawButton(5));
}
/**
* Get the current state of the Right Bumper.
*
* @return The current state of the button
*/
bool Xbox360::GetRightBumperValue() {
return (GetRawButton(6));
}
/**
* Get the current state of the Back button.
*
* @return The current state of the button
*/
bool Xbox360::GetBackValue() {
return (GetRawButton(7));
}
/**
* Get the current state of the Start button.
*
* @return The current state of the button
*/
bool Xbox360::GetStartValue() {
return (GetRawButton(8));
}
/**
* Get the angle of the left joystick.
* It is counterlockise, 0 is down.
*
* @param reflectCircle Choose whether to reflect over the Y axis.
* @return The angle of the left joystick.
*/
double Xbox360::GetLeftAngle(bool reflectCircle) {
float yAxis = -1 * GetLeftY();
float xAxis;
if (reflectCircle) {
xAxis = GetLeftX();
}
else {
xAxis = -1 * GetLeftX();
}
double angle;
if (xAxis == 0 && yAxis == 0)
{
angle = 0;
}
else if (xAxis == 0)
{
if (yAxis > 0)
{
angle = 0;
}
else
{
angle = CUSTOM_PI;
}
}
else if (yAxis == 0)
{
if (xAxis > 0)
{
angle = (3*CUSTOM_PI/2);
}
else
{
angle = ((CUSTOM_PI)/2);
}
}
else if (yAxis > 0 && xAxis > 0)
{
angle = custom_atan(yAxis/xAxis) + (3*CUSTOM_PI/2);
}
else if (yAxis > 0 && xAxis < 0)
{
angle = (CUSTOM_PI/2) + custom_atan(yAxis/xAxis);
}
else if (yAxis < 0 && xAxis > 0)
{
angle = custom_atan(yAxis/xAxis) + (3*CUSTOM_PI/2);
}
else if(yAxis < 0 && xAxis < 0)
{
angle = custom_atan(yAxis/xAxis) + (CUSTOM_PI / 2);
}
if(angle >= (2*CUSTOM_PI))
{
angle = angle - (2*CUSTOM_PI);
}
if(angle < 0)
{
angle = angle + (2*CUSTOM_PI);
}
return(angle);
}
/**
* Get the angle of the right joystick.
* It is counterlockise, 0 is down.
*
* @param reflectCircle Choose whether to reflect over the Y axis.
* @return The angle of the right joystick.
*/
double Xbox360::GetRightAngle(bool reflectCircle) {
float yAxis = -1 * GetRightY();
float xAxis;
if (reflectCircle)
{
xAxis = GetRightX();
}
else
{
xAxis = -1 * GetRightX();
}
double angle;
if (xAxis == 0 && yAxis == 0)
{
angle = 0;
}
else if (xAxis == 0)
{
if (yAxis > 0)
{
angle = 0;
}
else
{
angle = CUSTOM_PI;
}
}
else if (yAxis == 0)
{
if (xAxis > 0)
{
angle = (3*CUSTOM_PI/2);
}
else
{
angle = ((CUSTOM_PI)/2);
}
}
else if (yAxis > 0 && xAxis > 0)
{
angle = custom_atan(yAxis/xAxis) + (3*CUSTOM_PI/2);
}
else if (yAxis > 0 && xAxis < 0)
{
angle = (CUSTOM_PI/2) + custom_atan(yAxis/xAxis);
}
else if (yAxis < 0 && xAxis > 0)
{
angle = custom_atan(yAxis/xAxis) + (3*CUSTOM_PI/2);
}
else if(yAxis < 0 && xAxis < 0)
{
angle = custom_atan(yAxis/xAxis) + (CUSTOM_PI / 2);
}
if(angle >= (2*CUSTOM_PI))
{
angle = angle - (2*CUSTOM_PI);
}
if(angle < 0)
{
angle = angle + (2*CUSTOM_PI);
}
return(angle);
}
/**
* Get the magnitude of the left joystick.
* Value is between 0 and 1.
*
* @return The magnitude of the left joystick.
*/
double Xbox360::GetLeftMagnitude() {
return (Limit(custom_sqrt(custom_pow(GetLeftX(), 2) + custom_pow(GetLeftY(), 2))));
}
/**
* Get the magnitude of the right joystick.
* Value is between 0 and 1.
*
* @return The magnitude of the right joystick.
*/
double Xbox360::GetRightMagnitude() {
return (Limit(custom_sqrt(custom_pow(GetRightX(), 2) + custom_pow(GetRightY(), 2))));
}
////////////////Get Raw Button Methods to be used by Command/Subsystem Interface
/**
* Get A Button
*
* @return A Button
*/
JoystickButton* Xbox360::GetAButton() {
return (new JoystickButton(this, ABUTTON));
}
/**
* Get B Button
*
* @return B Button
*/
JoystickButton* Xbox360::GetBButton() {
return (new JoystickButton(this, BBUTTON));
}
/**
* Get X Button
*
* @return X Button
*/
JoystickButton* Xbox360::GetXButton() {
return (new JoystickButton(this, XBUTTON));
}
/**
* Get Y Button
*
* @return Y Button
*/
JoystickButton* Xbox360::GetYButton() {
return (new JoystickButton(this, YBUTTON));
}
/**
* Get Back Button
*
* @return Back Button
*/
JoystickButton* Xbox360::GetBackButton() {
return (new JoystickButton(this, BACK_BUTTON));
}
/**
* Get Start Button
*
* @return Start Button
*/
JoystickButton* Xbox360::GetStartButton() {
return (new JoystickButton(this, START_BUTTON));
}
/**
* Get Left Bumper
*
* @return Left Bumper
*/
JoystickButton* Xbox360::GetLeftBumper() {
return (new JoystickButton(this, LEFT_BUMPER));
}
/**
* Get Right Bumper
*
* @return Right Bumper
*/
JoystickButton* Xbox360::GetRightBumper() {
return (new JoystickButton(this, RIGHT_BUMPER));
}
////////////////End Raw Button Methods for Command/Subsystem Interface
/**
* Get the buttons of the controller, to be used by other functions.
*
* The buttons on the controller follow this mapping
* 1: A
* 2: B
* 3: X
* 4: Y
* 5: Left Bumper
* 6: Right Bumper
* 7: Back
* 8: Start
* 9: Left Joystick
* 10: Right Joystick
*
* @param button The button to get the value of. Range 1-10.
* @return The state of the button.
*/
bool Xbox360::GetRawButton(UINT32 button) {
return (Joystick::GetRawButton(button));
}
/**
* Get the raw axes of the controller, to be used by other functions.
*
* The axis on the controller follow this mapping
* 1: Left Stick X Axis
* -Left:Negative ; Right: Positive
* 2: Left Stick Y Axis
* -Up: Negative ; Down: Positive
* 3: Triggers
* -Left: Positive ; Right: Negative
* 4: Right Stick X Axis
* -Left: Negative ; Right: Positive
* 5: Right Stick Y Axis
* -Up: Negative ; Down: Positive
* 6: Directional Pad (Not recommended, buggy)
*
* @param axis The axis to get the value of. Range 1-6.
* @return The value of the axis from -1 to 1.
*/
float Xbox360::GetRawAxis(UINT32 axis) {
return (Joystick::GetRawAxis(axis));
}
/**
* Normalize outputs to be between -1 and 1.
*
* @param num The value to normalize.
* @return The normalized value.
*/
double Xbox360::Limit(double num) {
if (num > 1) {
num = 1;
} else if (num < -1) {
num = -1;
}
return num;
}