def handle_shooter_inputs(
self, joystick: wpilib.Joystick, gamepad: wpilib.XboxController
) -> None:
if joystick.getTrigger():
self.shooter_controller.fire_input()
if gamepad.getBackButton() and gamepad.getRawButtonPressed(5):
# Disable turret in case of catastrophic malfunction
# Make this toggle to allow re-enabling turret in case it was accidentally disabled
self.shooter.disabled = not self.shooter.disabled
self.turret.disabled = self.shooter.disabled
def handle_shooter_inputs(self, joystick: wpilib.Joystick,
gamepad: wpilib.XboxController) -> None:
if joystick.getTrigger():
self.shooter_controller.fire_input()
if gamepad.getBackButton() and gamepad.getBumperPressed(
Hand.kLeftHand):
# Disable turret in case of catastrophic malfunction
# Make this toggle to allow re-enabling turret in case it was accidentally disabled
self.shooter.toggle()
self.turret.toggle()
# Hold to stay in manual aiming mode
if gamepad.getXButton():
self.shooter_controller.manual_slew(
rescale_js(gamepad.getX(Hand.kLeftHand), 0.1) *
-self.MANUAL_SLEW_SPEED)
class _OI:
def __init__(self):
self.drive_gamepad = XboxController(0)
self.op_gamepad = XboxController(1)
self._action_listeners = []
self._while_listeners = []
self.arm_toggle = LambdaDebouncer(
lambda: self.op_gamepad.getTriggerAxis(XboxController.Hand.kRight
) > 0.75)
# Utility
def exec_while_condition(self, condition: Callable, cmd: Command):
self._while_listeners.append((condition, cmd))
def update(self):
for condition, action in self._action_listeners:
if condition():
action()
for condition, command in self._while_listeners:
command = typing.cast(Command, command)
cond_result = condition()
if cond_result:
if command.isRunning():
pass
else:
command.start()
else:
command.cancel()
def add_action_listener(self, condition, action):
self._action_listeners.append((condition, action))
# OpDrive
def get_left_power(self):
return -self.drive_gamepad.getY(XboxController.Hand.kLeft)
def get_right_power(self):
return -self.drive_gamepad.getY(XboxController.Hand.kRight)
def get_turn_command(self):
return -self.drive_gamepad.getX(XboxController.Hand.kRight)
def get_fine_left_turn(self):
return self.drive_gamepad.getXButton()
def get_fine_right_turn(self):
return self.drive_gamepad.getBButton()
def get_fine_forward(self):
return self.drive_gamepad.getPOV() == 0
def get_fine_backward(self):
return self.drive_gamepad.getPOV() == -180
def get_spot_turn(self):
return self.drive_gamepad.getBumper(XboxController.Hand.kLeft)
# Intake
def intake_is_active(self):
return self.op_gamepad.getBumper(XboxController.Hand.kRight)
def get_outtake_command(self):
return self.op_gamepad.getY(XboxController.Hand.kRight)
def toggle_arm(self):
return self.arm_toggle
def arm_is_open(self):
return self.op_gamepad.getBumper(XboxController.Hand.kLeft)
def rumble_op(self):
rumble_val = 1
self.op_gamepad.setRumble(XboxController.RumbleType.kLeftRumble,
rumble_val)
self.op_gamepad.setRumble(XboxController.RumbleType.kRightRumble,
rumble_val)
def unrumble_op(self):
self.op_gamepad.setRumble(XboxController.RumbleType.kLeftRumble, 0)
self.op_gamepad.setRumble(XboxController.RumbleType.kRightRumble, 0)
# Elevator
def get_elevator_manual_command(self):
return -self.op_gamepad.getY(XboxController.Hand.kLeft)
def elevator_is_manual_control(self):
return self.op_gamepad.getTriggerAxis(XboxController.Hand.kLeft) > 0.75
def elevator_move_to_top(self):
return self.op_gamepad.getPOV() == 0
def elevator_move_to_switch(self):
return self.op_gamepad.getPOV() == 90
def elevator_move_to_bottom(self):
return self.op_gamepad.getPOV() == 180
def elevator_zero(self):
return False
# Climber
def do_drop_forks(self):
return self.op_gamepad.getBackButton()
def do_climb(self):
return self.op_gamepad.getStartButton()
class XboxControllerPlus(): def __init__(self, port): self._controller = XboxController(port) self._a = False self._b = False self._x = False self._y = False self._lb = False self._rb = False self._lt = False self._rt = False self._ls = False self._rs = False self._start = False self._back = False self._dpad = -1 def getAButton(self): a = self._a b = self._controller.getAButton() self._a = b if b != a: if b: return PRESSED else: return RELEASED elif b: return DOWN else: return UP def getBButton(self): a = self._b b = self._controller.getBButton() self._b = b if b != a: if b: return PRESSED else: return RELEASED elif b: return DOWN else: return UP def getXButton(self): a = self._x b = self._controller.getXButton() self._x = b if b != a: if b: return PRESSED else: return RELEASED elif b: return DOWN else: return UP def getYButton(self): a = self._y b = self._controller.getYButton() self._y = b if b != a: if b: return PRESSED else: return RELEASED elif b: return DOWN else: return UP def getBumper(self, h): if h == kLeft: a = self._lb else: a = self._rb b = self._controller.getBumper(h) if h == kLeft: self._lb = b else: self._rb = b if b != a: if b: return PRESSED else: return RELEASED elif b: return DOWN else: return UP def getTrigger(self, h): if h == kLeft: a = self._lt else: a = self._rt b = self._controller.getTriggerAxis(h) >= 0.5 if h == kLeft: self._lt = b else: self._rt = b if b != a: if b: return PRESSED else: return RELEASED elif b: return DOWN else: return UP def getStickButton(self, h): if h == kLeft: a = self._ls else: a = self._rs b = self._controller.getStickButton(h) if h == kLeft: self._ls = b else: self._rs = b if b != a: if b: return PRESSED else: return RELEASED elif b: return DOWN else: return UP def getStartButton(self): a = self._start b = self._controller.getStartButton() self._start = b if b != a: if b: return PRESSED else: return RELEASED elif b: return DOWN else: return UP def getBackButton(self): a = self._back b = self._controller.getBackButton() self._back = b if b != a: if b: return PRESSED else: return RELEASED elif b: return DOWN else: return UP def getDpad(self, value): a = self._dpad b = self._controller.getPOV(0) self._dpad = b if b != a: if b: return PRESSED else: return RELEASED elif b: return DOWN else: return UP def setRumble(self, type1, d): self._controller.setRumble(type1, d) def getX(self, hand): return self._controller.getX(hand) def getY(self, hand): return self._controller.getY(hand)
