Started working on Xbox contoller code (untested)

Commands/Collector/RollOut.cpp

@@ -6,9 +6,10 @@ void RollOut::Initialize(){
   SetTimeout(2.0);
 }
 void RollOut::Execute(){
-  //TODO check this value to move the motors in the right direction
-  // Devide by 2 twice because this speed should be half the collector speed
-  DentRobot::collector->MoveRollers(-DentRobot::oi->GetLeftThrottle() * 0.8);
+  //TODO: figure out how to implement this with an Xbox controller
+  //DentRobot::collector->MoveRollers(-DentRobot::oi->GetLeftThrottle() * 0.8);
+  //Will just move at .8 power for now
+  DentRobot::collector->MoveRollers(-0.8);
 }
 bool RollOut::IsFinished(){
   return IsTimedOut();

Commands/Drivetrain/Drive.cpp

@@ -7,9 +7,9 @@ void Drive::Initialize(){
 }
 void Drive::Execute(){
   double x, y, z;
-  x = DentRobot::oi->GetLeftStick()->GetRawAxis(0);
-  y = -DentRobot::oi->GetLeftStick()->GetRawAxis(1);
-  z = DentRobot::oi->GetLeftStick()->GetRawAxis(2);
+  x = DentRobot::oi->GetLeftAxis("left", "x");
+  y = DentRobot::oi->GetLeftAxis("left", "y");
+  z = DentRobot::oi->GetLeftAxis("right", "x");
   //Code to lock the x axis when not holding button 1
   //if (DentRobot::oi->GetLeftStick()->GetRawButton(1)){
   //  x=0;

OI.cpp

@@ -12,56 +12,67 @@
 #include "Commands/Test/CheckRobot.h"
 OI::OI() {
   // Joysticks
-  leftStick=new Joystick(0);
+  leftController=new Joystick(0);
   rightStick=new Joystick(1);
-  // Collector
-  JoystickButton *left1=new JoystickButton(leftStick, 1);
-  JoystickButton *left2=new JoystickButton(leftStick, 2);
-  left1->WhileHeld(new RollIn(GetLeftThrottle()));
-  left2->WhileHeld(new RollOut());
-  // Elevator
-  raise=new Raise();
-  lower=new Lower();
-  JoystickButton *right4=new JoystickButton(rightStick, 4);
-  JoystickButton *right6=new JoystickButton(rightStick, 6);
-  right4->WhenPressed(lower);
-  right4->CancelWhenPressed(raise);
-  right6->WhenPressed(raise);
-  right6->CancelWhenPressed(lower);
-  // BinElevator
-  JoystickButton *right3=new JoystickButton(rightStick, 3);
-  JoystickButton *right5=new JoystickButton(rightStick, 5);
-  //JoystickButton *right7=new JoystickButton(rightStick, 7);
-  //JoystickButton *right8=new JoystickButton(rightStick, 8);
-  //right7->WhenPressed(new BinOpenArms());
-  //right8->WhenPressed(new BinCloseArms());
-  binRaise=new BinRaise(3.0);
-  binLower=new BinLower(2.0);
-  right3->WhenPressed(binLower);
-  right3->CancelWhenPressed(binRaise);
-  right5->WhenPressed(binRaise);
-  right5->CancelWhenPressed(binLower);
-  // Cancel
-  JoystickButton *right12=new JoystickButton(rightStick, 12);
-  right12->CancelWhenPressed(raise);
-  right12->CancelWhenPressed(lower);
-  right12->CancelWhenPressed(binRaise);
-  right12->CancelWhenPressed(binLower);
-  // Basic motor test
-  CheckRobot* checkRobot=new CheckRobot();
-  JoystickButton *left7=new JoystickButton(leftStick, 7);
-  left7->WhenPressed(checkRobot);
+  // Main buttons
+  leftA = new JoystickButton(leftController, 1);
+  leftB = new JoystickButton(leftController, 2);
+  leftX = new JoystickButton(leftController, 3);
+  leftY = new JoystickButton(leftController, 4);
+  // Left and right uttons
+  leftLB = new JoystickButton(leftController, 5);
+  leftRB = new JoystickButton(leftController, 6);
+  leftBack = new JoystickButton(leftController, 7);
+  leftStart = new JoystickButton(leftController, 8);
+  // Left, right stick press 
+  leftLPress = new JoystickButton(leftController, 9);
+  leftRPress = new JoystickButton(leftController, 10);
 }
-Joystick* OI::GetRightStick(){
-  return rightStick;
+float OI::GetLeftAxis(std::string stick, std::string axis){
+  if(stick=="left"){
+    if(axis=="x"){
+      return leftController->GetX();
+    }else if(axis=="y"){
+      return -leftController->GetY();
+    }else if(axis=="trigger"){
+      //TODO: Figure out what axis this is
+      return -4;
+    }
+  }else if(stick=="right"){
+    if(axis=="x"){
+      return leftController->GetTwist();
+    }else if(axis=="y"){
+      return -leftController->GetRawAxis(4);
+    }else if(axis=="trigger"){
+      //TODO: Figure out what axis this is
+      return -4;
+    }
+  }
+  //TODO: Fix this placeholder for NULL 
+  return -5;
 }
-Joystick* OI::GetLeftStick(){
-  return leftStick;
-}
-double OI::GetRightThrottle(){
-  return (-rightStick->GetRawAxis(3)+1.0)/2;
-}
-double OI::GetLeftThrottle(){
-  return (-leftStick->GetRawAxis(3)+1.0)/2;
+bool OI::GetLeftButton(std::string button){
+    if(button=="a"){
+      return leftA->Get();
+    }else if(button=="b"){
+      return leftB->Get();
+    }else if(button=="x"){
+      return leftX->Get();
+    }else if(button=="y"){
+      return leftY->Get();
+    }else if(button=="lb"){
+      return leftLB->Get();
+    }else if(button=="rb"){
+      return leftRB->Get();
+    }else if(button=="back"){
+      return leftBack->Get();
+    }else if(button=="start"){
+      return leftStart->Get();
+    }else if(button=="lpress"){
+      return leftLPress->Get();
+    }else if(button=="rpress"){
+      return leftRPress->Get();
+    }
+    return false;
 }
 // vim: ts=2:sw=2:et

OI.h

@@ -2,19 +2,20 @@
 #define OI_H
 
 #include "WPILib.h"
+#include "string"
 #include "Commands/Command.h"
 
 class OI
 {
   private:
-    Joystick *leftStick, *rightStick;
+    Joystick *leftController, *rightStick;
+    // Named Xbox buttons
+    JoystickButton *leftA, *leftB, *leftX, *leftY, *leftLB, *leftRB, *leftBack, *leftStart, *leftLPress, *leftRPress;
   public:
     OI();
     Command *raise, *lower, *binLower, *binRaise;
-    Joystick* GetRightStick();
-    Joystick* GetLeftStick();
-    double GetLeftThrottle();
-    double GetRightThrottle();
+    float GetLeftAxis(std::string, std::string);
+    bool GetLeftButton(std::string);
 };
 #endif
 // vim: ts=2:sw=2:et

Subsystems/Drivetrain.cpp

@@ -15,7 +15,8 @@ void Drivetrain::DriveMecanum(float x, float y, float z, float sensitivity, floa
   double correctX = -(sensitivity*(pow(x, 3))+(1-sensitivity)*x);
   double correctY = -(sensitivity*(pow(y, 3))+(1-sensitivity)*y);
   double correctZ = -z * 0.5;
-  if (DentRobot::oi->GetLeftStick()->GetRawButton(9)){
+  // If they're holding the right button, slow down
+  if (DentRobot::oi->GetLeftButton("rb")){
     correctY /= SmartDashboard::GetNumber("DriveSpeedReductionThresh");
   }
   rightFront->Set((-correctX + correctY - correctZ));