Moved the joystick to lib/controller and changed the existing code to work with it

src/HHBase.h

@@ -2,7 +2,6 @@
 #define __HH_BASE_H__
 #include <WPILib.h>
 #include "HHRobot.h"
-#include "Subsystems/Controller.h"
 #include "Subsystems/Shooter.h"
 #include "Subsystems/Collector.h"
 #include "Subsystems/Compressor.h"

src/HHRobot.cpp

@@ -3,7 +3,8 @@
 #include "HHBase.h"
 HHRobot::HHRobot():
   drive(new WCDrive(6,1,1,1,2,1,3,2,1,2,2,2,3)),
-  controlSystem(new JoystickController()),
+  driveStick(new Extreme3dPro(1)),
+  shootStick(new Extreme3dPro(2)),
   shooter(new HHShooter()),
   collector(new HHCollector()),
   compressorSystem(new HHCompressor()),
@@ -27,8 +28,8 @@ void HHRobot::Init(){
   compressorSystem->StartCompressor();
 }
 bool HHRobot::CheckJoystickValues(){
-  float x=controlSystem->GetJoystickAxis(1,"x");
+  float x=driveStick->GetJoystickAxis("x");
-  float y=controlSystem->GetJoystickAxis(1,"y");
+  float y=driveStick->GetJoystickAxis("y");
   if((-.1<x && x<.1) && (-.1<y && y<.1)) {
     dashboard->PutBoolValue("Joysticks Valid",true);
     return true;
@@ -38,7 +39,7 @@ bool HHRobot::CheckJoystickValues(){
   }
 }
 void HHRobot::UpdateDashboard(){
-  dashboard->PutFloatValue("Shooting Power",controlSystem->GetThrottle());
+  dashboard->PutFloatValue("Shooting Power",shootStick->GetThrottle());
 }
 void HHRobot::RunAuto(){
   timer->Reset();
@@ -74,6 +75,8 @@ void HHRobot::Handler(){
   bool allowCompressing = true;
   //Periodic tasks that should be run by every loop
   shooter->UpdateShooterPosition(targetAngle);
+  driveStick->handler();
+  shootStick->handler();
   if(timer->Get()-lastTime>=0.5f){
     // Update compressor when current time-last time is more than .5 seconds
     lastTime=timer->Get();
@@ -81,39 +84,39 @@ void HHRobot::Handler(){
   }
   collector->UpdateCollector(shooter->isShooting,shooter->GetAngle());
   //TODO Fix whatever the heck is wrong with this
-  drive->Update(6,controlSystem->GetJoystickAxis(1,"z")+controlSystem->GetJoystickAxis(1,"x"),controlSystem->GetJoystickAxis(1,"y"));
+  drive->Update(6,driveStick->GetJoystickAxis("z")+driveStick->GetJoystickAxis("x"),driveStick->GetJoystickAxis("y"));
   UpdateDashboard();
   //Shooting button
-  if(controlSystem->GetJoystickButton(2,SHOOTER_FIRE)){
+  if(shootStick->ButtonValue[1]){
-    shooter->StartShootingSequence(controlSystem->GetThrottle());
+    shooter->StartShootingSequence(shootStick->GetThrottle());
   }
   //Collector button assignments
-  if(controlSystem->GetJoystickButton(1,COLLECTOR_INTAKE)) {
+  if(driveStick->GetJoystickButton(COLLECTOR_INTAKE)) {
     collector->CollectBall();
     collectorTable->PutNumber("Current Collector Speed",1);
-  }else if(controlSystem->GetJoystickButton(1,COLLECTOR_OUTTAKE)) {
+  }else if(driveStick->GetJoystickButton(COLLECTOR_OUTTAKE)) {
     collectorTable->PutNumber("Current Collector Speed",-1);
     collector->ReleaseBall();
   }else{
     collectorTable->PutNumber("Current Collector Speed",0);
     collector->CollectorStop();
   }
-  if(controlSystem->GetJoystickButton(1,COLLECTOR_EXTEND)){
+  if(driveStick->GetJoystickButton(COLLECTOR_EXTEND)){
     compressorSystem->ExtendCollector();
   }
-  if(controlSystem->GetJoystickButton(1,COLLECTOR_RETRACT)){
+  if(driveStick->GetJoystickButton(COLLECTOR_RETRACT)){
     compressorSystem->RetractCollector();
   }
-  if(controlSystem->GetJoystickButton(2,SHOOTER_ANGLE_ONE)){
+  if(shootStick->GetJoystickButton(SHOOTER_ANGLE_ONE)){
     targetAngle=100;
   }
-  if(controlSystem->GetJoystickButton(2,SHOOTER_ANGLE_TWO)){
+  if(driveStick->GetJoystickButton(SHOOTER_ANGLE_TWO)){
     targetAngle=120;
   }
-  if(controlSystem->GetJoystickButton(2,SHOOTER_ANGLE_THREE)){
+  if(shootStick->GetJoystickButton(SHOOTER_ANGLE_THREE)){
     targetAngle=90;
   }
-  if(controlSystem->GetJoystickButton(2,SHOOTER_ANGLE_FOUR)){
+  if(shootStick->GetJoystickButton(SHOOTER_ANGLE_FOUR)){
     targetAngle=130;
   }
   shooterTable->PutNumber("Target Shooter Angle",targetAngle);
@@ -132,7 +135,7 @@ void HHRobot::Handler(){
   // Shooting stuff
   shooterTable->PutNumber("Current Shooter Angle",shooter->GetAngle());
   shooterTable->PutNumber("Current Shooter State",shooter->e_ShooterState);
-  shooterTable->PutNumber("Current Shooter Power",controlSystem->GetThrottle()*100);
+  shooterTable->PutNumber("Current Shooter Power",shootStick->GetThrottle()*100);
-  shooterTable->PutNumber("Current Shooter Power (raw)",controlSystem->GetThrottle() * 127.0f + 128);
+  shooterTable->PutNumber("Current Shooter Power (raw)",shootStick->GetThrottle() * 127.0f + 128);
 }
 // vim: ts=2:sw=2:et

src/HHRobot.h

@@ -3,8 +3,8 @@
 #include <WPILib.h>
 #include "HHBase.h"
 #include "lib/drive/WCDrive.h"
+#include "lib/controller/Controller.h"
 #include "Definitions.h"
-class JoystickController;
 class HHShooter;
 class HHCollector;
 class HHCompressor;
@@ -13,9 +13,8 @@ class HHRobot;
 class HHSonar;
 class HHRobot{
   private:
-    Joystick *rightStick, *leftStick;
     WCDrive *drive;
-    JoystickController *controlSystem;
+    Extreme3dPro *driveStick, *shootStick;
     NetworkTable *driveTable, *shooterTable, *collectorTable;
     HHShooter *shooter;
     HHCollector *collector;

src/Subsystems/Controller.cpp

@@ -1,62 +0,0 @@
-#include "Controller.h"
-JoystickController::JoystickController(){
-  driveJoystick=new Joystick(JOYSTICK_RIGHT);
-  shootJoystick=new Joystick(JOYSTICK_LEFT);
-}
-float JoystickController::GetThrottle(){
-  return (-GetRawJoystickAxis(2,4)+1)/2;
-}
-int JoystickController::GetJoystickButton(int joystick, int button){
-  switch (joystick){
-    case 1:
-      return driveJoystick->GetRawButton(button);
-      break;
-    case 2:
-      return shootJoystick->GetRawButton(button);
-      break;
-    default:
-      printf("Button from joystick %d does not exist!\n", joystick);
-      return -1;
-      break;
-  }
-}
-float JoystickController::GetRawJoystickAxis(int joystick, int axis){
-  switch (joystick){
-    case 1:
-      return driveJoystick->GetRawAxis(axis);
-      break;
-    case 2:
-      return shootJoystick->GetRawAxis(axis);
-      break;
-    default:
-      printf("Axis from joystick %d does not exist!\n", joystick);
-      return 999;
-      break;
-  }
-}
-
-float JoystickController::GetJoystickAxis(int joystick, std::string axis){
-  if (joystick == 1) {
-    if (axis == "x"){
-      return driveJoystick->GetX();
-    }else if (axis == "y"){
-      return driveJoystick->GetY();
-    }else if (axis == "z"){
-      return driveJoystick->GetZ();
-    }else if(axis == "throttle"){
-      return driveJoystick->GetRawAxis(4);
-    }
-  }else if(joystick == 2){
-    if (axis == "x"){
-      return shootJoystick->GetX();
-    }else if (axis == "y"){
-      return shootJoystick->GetY();
-    }else if (axis == "z"){
-      return shootJoystick->GetZ();
-    }else if(axis == "throttle"){
-      return shootJoystick->GetRawAxis(4);
-    }
-  }
-  return 0;
-}
-// vim: ts=2:sw=2:et

src/Subsystems/Controller.h

@@ -1,14 +0,0 @@
-#include <WPILib.h>
-#include "../Definitions.h"
-class JoystickController
-{
-  private:
-    Joystick *driveJoystick, *shootJoystick;
-  public:
-    JoystickController();
-    float GetThrottle();
-    int GetJoystickButton(int,int);
-    float GetRawJoystickAxis(int,int);
-    float GetJoystickAxis(int, std::string axis);
-};
-// vim: ts=2:sw=2:et

src/lib/controller/Controller.h

@@ -0,0 +1,19 @@
+#include <WPILib.h>
+#include "../Definitions.h"
+// Logitech Extreme 3D Pro joysticks
+class Extreme3dPro
+{
+  private:
+    Joystick *stickofjoy;
+  public:
+    //Array to hold joystick button values
+    int ButtonValue[11];
+    //Call periodically to update joystick values
+    void handler();
+    Extreme3dPro(uint8_t);
+    float GetThrottle();
+    int GetJoystickButton(uint8_t);
+    float GetRawJoystickAxis(uint8_t);
+    float GetJoystickAxis(std::string axis);
+};
+// vim: ts=2:sw=2:et

src/lib/controller/Extreme3dPro.cpp

@@ -0,0 +1,32 @@
+#include "Controller.h"
+Extreme3dPro::Extreme3dPro(uint8_t port){
+  stickofjoy = new Joystick(port);
+}
+float Extreme3dPro::GetThrottle(){
+  return (-GetRawJoystickAxis(4)+1)/2;
+}
+int Extreme3dPro::GetJoystickButton(uint8_t button){
+  return stickofjoy->GetRawButton(button);
+}
+float Extreme3dPro::GetRawJoystickAxis(uint8_t axis){
+  return stickofjoy->GetRawAxis(axis);
+}
+float Extreme3dPro::GetJoystickAxis(std::string axis){
+    if (axis == "x"){
+      return stickofjoy->GetX();
+    }else if (axis == "y"){
+      return stickofjoy->GetY();
+    }else if (axis == "z"){
+      return stickofjoy->GetZ();
+    }else if(axis == "throttle"){
+      return stickofjoy->GetRawAxis(4);
+    }else{
+      return 0;
+    }
+}
+void Extreme3dPro::handler(){
+  for(int i=0;i<=11;i++){
+    ButtonValue[i] = stickofjoy->GetRawButton(i);
+  }
+}
+// vim: ts=2:sw=2:et