Changes between Initial Version and Version 1 of ControlSystems/SampleCode/XboxController/Solution

Timestamp:

Oct 1, 2019, 5:50:18 PM (6 years ago)

Author:

David Albert

Comment:

--

ControlSystems/SampleCode/XboxController/Solution

@@ +1 @@
+{{{
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2017-2018 FIRST. All Rights Reserved.                        */
+/* Open Source Software - may be modified and shared by FRC teams. The code   */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project.                                                               */
+/*----------------------------------------------------------------------------*/
+
+package frc.robot;
+
+import edu.wpi.first.wpilibj.TimedRobot;
+import edu.wpi.first.wpilibj.smartdashboard.SendableChooser;
+import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
+import edu.wpi.first.wpilibj.XboxController;
+import edu.wpi.first.wpilibj.GenericHID.Hand;
+
+
+/**
+ * The VM is configured to automatically run this class, and to call the
+ * functions corresponding to each mode, as described in the TimedRobot
+ * documentation. If you change the name of this class or the package after
+ * creating this project, you must also update the build.gradle file in the
+ * project.
+ */
+public class Robot extends TimedRobot {
+  private static final String kDefaultAuto = "Default";
+  private static final String kCustomAuto = "My Auto";
+  private final SendableChooser<String> m_chooser = new SendableChooser<>();
+
+  // Create xbox controller variable.
+  private XboxController xbox;
+  // Create a constant representing the port the xbox controller is plugged into
+  private final int PORT = 0;
+
+  /**
+   * This function is run when the robot is first started up and should be
+   * used for any initialization code.
+   */
+  @Override
+  public void robotInit() {
+    m_chooser.setDefaultOption("Default Auto", kDefaultAuto);
+    m_chooser.addOption("My Auto", kCustomAuto);
+    SmartDashboard.putData("Auto choices", m_chooser);
+
+    //Instantiate xbox controller object
+    // the argument is the USB port that controller is plugged into
+    xbox = new XboxController(PORT);
+ 
+  }
+
+  /**
+   * This function is called periodically during operator control.
+   */
+  @Override
+  public void teleopPeriodic() {
+
+    // Print "Y button pressed" every time the button is pressed
+    if (xbox.getYButtonPressed()) {
+      System.out.println("Y button pressed");
+    }
+    else if (xbox.getXButtonPressed()){
+      System.out.println("X button presssed");
+    }
+    else if (xbox.getAButtonPressed()) {
+      System.out.println("A button pressed");
+    }
+    else if (xbox.getBButtonPressed()) {
+      System.out.println("B button pressed");
+    }
+
+    // Get and print x,y values of left joystick
+    double x = xbox.getX(Hand.kLeft);
+    double y = xbox.getY(Hand.kLeft);
+    System.out.println("left Joystick (" + x + ", " + y + ")");
+
+    // Get and print x,y values of right joystick
+    x = xbox.getX(Hand.kRight);
+    y = xbox.getY(Hand.kRight);
+    System.out.println("right Joystick (" + x + ", " + y + ")");
+  }
+}
+}}}