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xbox.py
196 lines (149 loc) · 4.94 KB
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xbox.py
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from wpilib import Joystick, Timer
class XboxController(object):
"""
Allows usage of an Xbox controller, with sensible names for xbox
specific buttons and axes.
"""
def __init__(self, port):
"""
:param port: The port on the driver station that the controller is
plugged into.
:type port: int
"""
self.joy = Joystick(port)
self.debounce = DpadDebouncer()
def getLeftX(self):
"""Get the left stick X axis
:returns: -1 to 1
:rtype: float
"""
return self.joy.getRawAxis(0)
def getLeftY(self):
"""Get the left stick Y axis
:returns: -1 to 1
:rtype: float
"""
return self.joy.getRawAxis(1)
#getX = self.getLeftX()
#getY = self.getLeftY()
def getLeftPressed(self):
"""Determines if the left stick is pressed
:returns: True if pressed, False otherwise
:rtype: bool
"""
return self.joy.getRawButton(9)
def getPOV(self):
"""Get the state of the D-Pad
:returns: The angle of the D-Pad in degrees, or -1 if the D-Pad is not pressed.
:rtype: float
"""
return self.debounce.get(self.joy.getPOV())
def getRightX(self):
"""Get the right stick X axis
:returns: -1 to 1
:rtype: float
"""
return self.joy.getRawAxis(4)
def getRightY(self):
"""Get the right stick Y axis
:returns: -1 to 1
:rtype: float
"""
return self.joy.getRawAxis(5)
def getRightPressed(self):
"""Determines if the right stick is pressed
:returns: True if pressed, False otherwise
:rtype: bool
"""
return self.joy.getRawButton(10)
def getButtonA(self):
"""Gets whether the A button is pressed
:returns: True if pressed, False otherwise
:rtype: bool
"""
return self.joy.getRawButton(1)
def getButtonB(self):
"""Gets whether the B button is pressed
:returns: True if pressed, False otherwise
:rtype: bool
"""
return self.joy.getRawButton(2)
def getButtonX(self):
"""Gets whether the X button is pressed
:returns: True if pressed, False otherwise
:rtype: bool
"""
return self.joy.getRawButton(3)
def getButtonY(self):
"""Gets whether the X button is pressed
:returns: True if pressed, False otherwise
:rtype: bool
"""
return self.joy.getRawButton(4)
def getStart(self):
"""Gets whether the Start button is pressed
:returns: True if pressed, False otherwise
:rtype: bool
"""
return self.joy.getRawButton(8)
def getBack(self):
"""Gets whether the Back button is pressed
:returns: True if pressed, False otherwise
:rtype: bool
"""
return self.joy.getRawButton(7)
def getLeftBumper(self):
"""Gets whether the left bumper is pressed
:returns: True if pressed, False otherwise
:rtype: bool
"""
return self.joy.getRawButton(5)
def getRightBumper(self):
"""Gets whether the right bumper is pressed
:returns: True if pressed, False otherwise
:rtype: bool
"""
return self.joy.getRawButton(6)
def getLeftTrigger(self):
"""Gets whether the left trigger is pressed
:returns: True if pressed, False otherwise
:rtype: bool
"""
return self.joy.getRawAxis(2) > 0
def getRightTrigger(self):
"""Gets whether the right trigger is pressed
:returns: True if pressed, False otherwise
:rtype: bool
"""
return self.joy.getRawAxis(3) > 0
def getTriggers(self):
return self.joy.getRawAxis(2)
def getRightTriggerRaw(self):
return self.joy.getRawAxis(3)
def getLeftTriggerRaw(self):
return self.joy.getRawAxis(2)
def rumble(self, left=None, right=None):
"""Sets the rumble amount on one/both side(s) of the controller"""
if left is not None:
self.joy.setRumble(Joystick.RumbleType.kLeftRumble_val, left)
if right is not None:
self.joy.setRumble(Joystick.RumbleType.kRightRumble_val, right)
class DpadDebouncer(object):
def __init__(self):
self.debounce_period = 0.5
self.last_input = -1
self.last_timestamp = Timer.getFPGATimestamp()
def set_debounce_period(self, time):
self.debounce_period = time
def get(self, input):
if input == self.last_input:
time = Timer.getFPGATimestamp()
if time - self.last_timestamp <= self.debounce_period:
return -1
else:
self.last_timestamp = time
return input
else:
self.last_input = input
self.last_timestamp = Timer.getFPGATimestamp()
return input