joystick

Author: Ernie3

.gitignore

@@ -170,9 +170,12 @@ out/
 
 # Simulation GUI and other tools window save file
 *-window.json
+simgui.json
+simgui-ds.json
+networktables.json
 
 # Simulation data log directory
 logs/
 
 # Folder that has CTRE Phoenix Sim device config storage
-ctre_sim/
+ctre_sim/

.vscode/settings.json

@@ -25,5 +25,6 @@
       }
     },
   ],
-  "java.test.defaultConfig": "WPIlibUnitTests"
+  "java.test.defaultConfig": "WPIlibUnitTests",
+  "java.debug.settings.onBuildFailureProceed": true
 }

src/main/java/frc/robot/examples/DigitalInputExamples.java

@@ -9,7 +9,7 @@
 /**
  * Examples of using digital inputs.
  */
-public final class DigitalInputExamples {
+public abstract class DigitalInputExamples {
 
   /**
    * Digital Inputs detect a true or false value.

src/main/java/frc/robot/examples/EncoderExamples.java

@@ -15,7 +15,7 @@
 /**
  * Examples of using encoders
  */
-public final class EncoderExamples {
+public abstract class EncoderExamples {
 
   /**
    * Examples for a Relative Encoder. Relative here means that the value gets erased whenever we turn off the

src/main/java/frc/robot/examples/GyroExamples.java

@@ -9,16 +9,17 @@
 import edu.wpi.first.wpilibj.SerialPort.Port;
 
 /**
- * Examples of using the NavX gyro
+ * Used to get the robot orientation in 3-dimensional space. Examples are using the NavX gyro.
  * https://pdocs.kauailabs.com/navx-mxp/
  */
-public final class GyroExamples {
+public abstract class GyroExamples {
 
   /**
    * https://simple.wikipedia.org/wiki/Pitch,_yaw,_and_roll
    */
   private void NavX_GetRobotAngles_Example() {
     // Robot has One NavX usually either connected via MXP or USB on the RoboRIO
+    // AHRS = Attitude and Heading Reference System
     // final Port navxPort = Port.kUSB;
     final Port navxPort = Port.kMXP;
     final AHRS navx = new AHRS(navxPort);

src/main/java/frc/robot/examples/JoystickExamples.java

@@ -0,0 +1,97 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+package frc.robot.examples;
+
+import edu.wpi.first.wpilibj.Joystick;
+import edu.wpi.first.wpilibj.XboxController;
+import edu.wpi.first.wpilibj2.command.Commands;
+import edu.wpi.first.wpilibj2.command.button.CommandXboxController;
+
+/**
+ * Joystick examples.
+ */
+public abstract class JoystickExamples {
+  // Get joystick using Port Number on Driver Station
+  final int PortNumberOnDriverStation = 0;
+  final Joystick joystick = new Joystick(PortNumberOnDriverStation);
+
+  /**
+   * Buttons - get if a specific button is currently pressed
+   */
+  private void Joystick_GetButtonPress_Example() {
+    // Buttons start at 1 and not 0
+    boolean isPressingButton1 = joystick.getRawButton(1);
+    boolean isPressingButton8 = joystick.getRawButton(8);
+  }
+
+  /**
+   * Joystick Axis - X, Y, Z
+   */
+  private void Joystick_GetAxis_Example() {
+    // left/right
+    // left is negative
+    // right is positive
+    // sometimes we negative this depending on the use case
+    double xInput = joystick.getX();
+
+    // forwards/backwards
+    // forwards is negative
+    // backwards in postive
+    // very common we negate this in our code
+    double yInput = joystick.getY();
+
+    // some joysticks twist too
+    // clockwise postive usually
+    // counter-clockwise negative usually
+    double zInput = joystick.getZ();
+  }
+
+  /**
+   * CommandXboxController by WPILib
+   */
+  private void XboxController_CommandBased_Example() {
+    // WPILib offers an XboxController class for simplicity
+    final int PortNumberOnDriverStationForXbox = 1;
+    final CommandXboxController cmdXboxController = new CommandXboxController(PortNumberOnDriverStationForXbox);
+
+    // Buttons to trigger commmands
+    cmdXboxController.y().onTrue(Commands.print("'Y' button was pressed!"));
+    cmdXboxController.b().onTrue(Commands.print("'B' button was pressed!"));
+    cmdXboxController.a().onTrue(Commands.print("'A' button was pressed!"));
+    cmdXboxController.x().onTrue(Commands.print("'X' button was pressed!"));
+    cmdXboxController.start().onTrue(Commands.print("'Start' button was pressed!"));
+    cmdXboxController.back().onTrue(Commands.print("'Back' button was pressed!"));
+    cmdXboxController.rightStick().onTrue(Commands.print("'Right Stick' was pressed!"));
+    cmdXboxController.leftStick().onTrue(Commands.print("'Left Stick' was pressed!"));
+    cmdXboxController.rightBumper().onTrue(Commands.print("'Right Bumper' was pressed!"));
+    cmdXboxController.leftBumper().onTrue(Commands.print("'Left Bumper' was pressed!"));
+
+    // You can get the underlying XboxController for it using getHID()
+    final XboxController xboxController = cmdXboxController.getHID();
+
+    // Buttons
+    boolean isYPressed = xboxController.getYButton();
+    boolean isBPressed = xboxController.getBButton();
+    boolean isAPressed = xboxController.getAButton();
+    boolean isXPressed = xboxController.getXButton();
+    boolean isStartPressed = xboxController.getStartButton();
+    boolean isBackPressed = xboxController.getBackButton();
+    boolean isRightStickPressed = xboxController.getRightStickButton();
+    boolean isLeftStickPressed = xboxController.getLeftStickButton();
+    boolean isRightBumperPressed = xboxController.getRightBumper();
+    boolean isLeftBumperPressed = xboxController.getLeftBumper();
+
+    // Triggers
+    // left ranges from [0, 1]
+    // right ranges from [0, 1]
+    double leftTriggerValue = xboxController.getLeftTriggerAxis();
+    double rightTriggerValue = xboxController.getRightTriggerAxis();
+
+    // D-Pad
+    // The POV angles start at 0 in the up direction, and increase clockwise (e.g. right is 90, upper-left is 315).
+    // Returns -1 if the POV is not pressed.
+    double pov = xboxController.getPOV();
+  }
+}

src/main/java/frc/robot/examples/MotorControllerExamples.java

@@ -14,7 +14,7 @@
 /**
  * Examples of using motor controllers
  */
-public final class MotorControllerExamples {
+public abstract class MotorControllerExamples {
 
   /**
    * Example for a PWM Motor Controller. This example uses a Spark from RevRobotics.

src/main/java/frc/robot/examples/PneumaticsExamples.java

@@ -10,9 +10,9 @@
 import edu.wpi.first.wpilibj.DoubleSolenoid.Value;
 
 /**
- * Pneumatics examples.
+ * Pneumatics examples. Pneumatics uses air with a compressor and air tank(s) on the robot to perform actions.
  */
-public final class PneumaticsExamples {
+public abstract class PneumaticsExamples {
 
   /*
    * Solenoids can be used to controller pneumatic cylinders are set to true or false

src/main/java/frc/robot/examples/UltrasonicExamples.java

@@ -9,7 +9,7 @@
 /**
  * Ultrasonic sensor examples.
  */
-public final class UltrasonicExamples {
+public abstract class UltrasonicExamples {
 
   /*
    * Example Ultrasonic Sensor: https://kb.vex.com/hc/en-us/articles/360038608771-Using-the-V5-3-Wire-UltraSonic-Range-Finder