| F22Rapture |
08-01-2013 21:41 |
Re: Java programming of an XBox Controller
Quote:
Originally Posted by inkspell4
(Post 1211075)
How could we use an xbox controller to control our robot?
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Yes, you could, but I would recommend against it. The Xbox Controller has fairly large (and inconsistent) deadzones around the center of the sticks. The logitech joysticks provide better accuracy.
Quote:
Does anyone have a drawing of which buttons correspond to what numbers and what axis' correspond to what numbers?
Any help would be appreciated!
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If you just want the button bindings, scroll to the bottom. Otherwise, you can use this class to simplify things.
Code:
/*
* To change this template, choose Tools | Templates
* and open the template in the editor.
*/
package org.usfirst.Rotoraptors.controls.hids;
import edu.wpi.first.wpilibj.Joystick;
import edu.wpi.first.wpilibj.buttons.*;
/**
*
* @author Daniel
*/
public class XboxController {
private Joystick m_pad;
public XboxController(int port) {
m_pad = new Joystick(port);
}
public double getLeftX() {
return m_pad.getRawAxis(LEFT_X_AXIS);
}
public double getLeftY() {
return m_pad.getRawAxis(LEFT_Y_AXIS);
}
public double getRightX() {
return m_pad.getRawAxis(RIGHT_X_AXIS);
}
public double getRightY() {
return m_pad.getRawAxis(RIGHT_Y_AXIS);
}
public double getTriggers() {
return m_pad.getRawAxis(TRIGGERS);
}
public double getDpadX() {
return m_pad.getRawAxis(DPAD_LR);
}
public double applyDeadband(int axis) {
if(Math.abs(m_pad.getRawAxis(axis)) < .1) {
return 0;
} else {
return axis;
}
}
// Creates buttons
public Button X = new JoystickButton(m_pad, BUTTON_X);
public Button Y = new JoystickButton(m_pad, BUTTON_Y);
public Button A = new JoystickButton(m_pad, BUTTON_A);
public Button B = new JoystickButton(m_pad, BUTTON_B);
public Button lBumper = new JoystickButton(m_pad, BUMPER_L);
public Button rBumper = new JoystickButton(m_pad, BUMPER_R);
public Button start = new JoystickButton(m_pad, BUTTON_START);
public Button back = new JoystickButton(m_pad, BUTTON_BACK);
public Button lStick = new JoystickButton(m_pad, LEFT_STICK_PRESS);
public Button rStick = new JoystickButton(m_pad, RIGHT_STICK_PRESS);
public boolean getButton(int btn) {
return m_pad.getRawButton(btn);
}
// Axis indexes:
public static final int
LEFT_X_AXIS = 1,
LEFT_Y_AXIS = 2,
TRIGGERS = 3,
RIGHT_X_AXIS = 4,
RIGHT_Y_AXIS = 5,
DPAD_LR = 6;
// Button mappings:
public static final int
BUTTON_A = 1,
BUTTON_B = 2,
BUTTON_X = 3,
BUTTON_Y = 4,
BUMPER_L = 5,
BUMPER_R = 6,
BUTTON_BACK = 7,
BUTTON_START = 8,
LEFT_STICK_PRESS = 9,
RIGHT_STICK_PRESS = 10;
}
Which you can call the same way you call regular Joysticks (in regards to where you put it and the information you provide to the method), ie:
Code:
XboxController driverXbox = new XboxController(1);
XboxController operatorXbox = new XboxController(2);
It also creates the buttons for you so you can keep your OI code cleaner.
Code:
driverXbox.A.whenPressed(doSomething());
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