Improved GamePad library

Made an abstract GamePad class to allow programming controls without knowing which controller is being used.
Added Xbox controller support in addition to the Logitech F310

src/org/usfirst/frc/team4737/lib/Gamepad.java

@@ -0,0 +1,329 @@
+package org.usfirst.frc.team4737.lib;
+
+import java.util.HashMap;
+import java.util.Map;
+
+import edu.wpi.first.wpilibj.GenericHID.RumbleType;
+import edu.wpi.first.wpilibj.Joystick;
+import edu.wpi.first.wpilibj.buttons.Button;
+import edu.wpi.first.wpilibj.buttons.JoystickButton;
+
+public abstract class Gamepad {
+
+	public class GamepadButton extends JoystickButton {
+
+		private String name;
+
+		public GamepadButton(Gamepad gamepad, String name, int buttonNumber) {
+			super(gamepad.gamepad, buttonNumber);
+
+			this.name = name;
+
+			gamepad.registerButton(this, name);
+		}
+
+		public String getNameID() {
+			return name;
+		}
+
+	}
+
+	private abstract class Axis {
+
+		protected final Gamepad gamepad;
+
+		protected String name;
+
+		public Axis(Gamepad gamepad, String name) {
+			this.gamepad = gamepad;
+
+			this.name = name;
+
+			gamepad.registerAxis(this, name);
+		}
+
+		public abstract double get();
+
+		public String getName() {
+			return name;
+		}
+
+	}
+
+	public class GamepadAxis extends Axis {
+
+		private final int axis;
+
+		private double deadzone;
+
+		public GamepadAxis(Gamepad gamepad, String name, int axis) {
+			super(gamepad, name);
+			this.axis = axis;
+
+			gamepad.registerAxis(this, name);
+		}
+
+		public void setDeadzone(double radius) {
+			if (radius < 0)
+				throw new IllegalArgumentException("Deadzone cannot be less than 0.");
+			this.deadzone = radius;
+		}
+
+		public double getRaw() {
+			return gamepad.gamepad.getRawAxis(axis);
+		}
+
+		@Override
+		public double get() {
+			double raw = getRaw();
+			if (raw < -deadzone) {
+				return scale(raw, -1, -deadzone, -1, 0);
+			} else if (raw > deadzone) {
+				return scale(raw, deadzone, 1, 0, 1);
+			} else {
+				return 0;
+			}
+		}
+
+		private double scale(double val, double valLow, double valHigh, double newLow, double newHigh) {
+			double reduced = (val - valLow) / (valHigh - valLow);
+			return reduced * (newHigh - newLow) + newLow;
+		}
+
+	}
+
+	public class DPad {
+
+		private class DPadButton extends Button {
+
+			private final DPad dpad;
+			private final int degree;
+
+			private String name;
+
+			public DPadButton(DPad dpad, String name, int degree) {
+				this.dpad = dpad;
+				this.degree = degree;
+
+				this.name = name;
+
+				dpad.gamepad.registerButton(this, name);
+			}
+
+			@Override
+			public boolean get() {
+				return gamepad.gamepad.getPOV(dpad.id) == degree;
+			}
+
+			public String getNameID() {
+				return name;
+			}
+
+		}
+
+		private class DPadAxis extends Axis {
+
+			private DPadButton[] negative;
+			private DPadButton[] positive;
+
+			public DPadAxis(Gamepad gamepad, String name, DPadButton[] negative, DPadButton[] positive) {
+				super(gamepad, name);
+				this.negative = negative;
+				this.positive = positive;
+			}
+
+			@Override
+			public double get() {
+				boolean neg = false;
+				for (int i = 0; i < negative.length; i++) {
+					if (negative[i].get()) {
+						neg = true;
+						break;
+					}
+				}
+				boolean pos = false;
+				for (int i = 0; i < positive.length; i++) {
+					if (positive[i].get()) {
+						pos = true;
+						break;
+					}
+				}
+
+				if (neg && pos)
+					return 0;
+				else if (neg)
+					return -1;
+				else if (pos)
+					return 1;
+				else
+					return 0;
+			}
+
+		}
+
+		private final Gamepad gamepad;
+		private final int id;
+
+		private String name;
+
+		public final DPadButton UP;
+		public final DPadButton UP_RIGHT;
+		public final DPadButton RIGHT;
+		public final DPadButton DOWN_RIGHT;
+		public final DPadButton DOWN;
+		public final DPadButton DOWN_LEFT;
+		public final DPadButton LEFT;
+		public final DPadButton UP_LEFT;
+		public final DPadAxis X;
+		public final DPadAxis Y;
+
+		public DPad(Gamepad gamepad, String name, int id) {
+			this.gamepad = gamepad;
+			this.id = id;
+
+			this.name = name;
+
+			UP = new DPadButton(this, name + "_UP", 0);
+			UP_RIGHT = new DPadButton(this, name + "_UP_RIGHT", 45);
+			RIGHT = new DPadButton(this, name + "_RIGHT", 90);
+			DOWN_RIGHT = new DPadButton(this, name + "_DOWN_RIGHT", 135);
+			DOWN = new DPadButton(this, name + "_DOWN", 180);
+			DOWN_LEFT = new DPadButton(this, name + "_DOWN_LEFT", 225);
+			LEFT = new DPadButton(this, name + "_LEFT", 270);
+			UP_LEFT = new DPadButton(this, name + "_UP_LEFT", 315);
+			X = new DPadAxis(gamepad, name + "_X", new DPadButton[] { LEFT, DOWN_LEFT, UP_LEFT },
+					new DPadButton[] { RIGHT, DOWN_RIGHT, UP_RIGHT });
+			Y = new DPadAxis(gamepad, name + "_Y", new DPadButton[] { DOWN, DOWN_LEFT, DOWN_RIGHT },
+					new DPadButton[] { UP, UP_LEFT, UP_RIGHT });
+		}
+
+		public int getDegree() {
+			return gamepad.gamepad.getPOV(id);
+		}
+
+		public String getName() {
+			return name;
+		}
+
+	}
+
+	public class Thumbstick {
+
+		public final GamepadAxis X, Y;
+
+		private String name;
+
+		public Thumbstick(Gamepad gamepad, String name, int axisX, int axisY) {
+			X = new GamepadAxis(gamepad, name + "_X", axisX);
+			Y = new GamepadAxis(gamepad, name + "_Y", axisY);
+
+			this.name = name;
+
+			gamepad.registerThumbstick(this, name);
+		}
+
+		public String getName() {
+			return name;
+		}
+
+	}
+
+	public final Joystick gamepad;
+
+	private String name;
+
+	private Map<String, Button> buttonMap;
+	private Map<String, Axis> axisMap;
+	private Map<String, Thumbstick> thumbstickMap;
+	private Map<String, DPad> dpadMap;
+
+	public Gamepad(int usbPort, String name) {
+		gamepad = new Joystick(usbPort);
+
+		this.name = name;
+
+		buttonMap = new HashMap<>();
+		axisMap = new HashMap<>();
+		thumbstickMap = new HashMap<>();
+		dpadMap = new HashMap<>();
+	}
+
+	protected void registerButton(Button button, String name) {
+		buttonMap.put(name.toLowerCase(), button);
+	}
+
+	protected void registerAxis(Axis axis, String name) {
+		axisMap.put(name.toLowerCase(), axis);
+	}
+
+	protected void registerThumbstick(Thumbstick thumbstick, String name) {
+		thumbstickMap.put(name.toLowerCase(), thumbstick);
+	}
+
+	protected void registerDPad(DPad dpad, String name) {
+		dpadMap.put(name.toLowerCase(), dpad);
+	}
+
+	public void setRumble(double rumble) {
+		this.setRumble(rumble, rumble);
+	}
+
+	public void setRumble(double left, double right) {
+		gamepad.setRumble(RumbleType.kLeftRumble, left);
+		gamepad.setRumble(RumbleType.kRightRumble, right);
+	}
+
+	public String getName() {
+		return name;
+	}
+
+	/**
+	 * Enables retrieving buttons by name without knowing which controller is being
+	 * used.
+	 * 
+	 * @param name
+	 *            - The name of the button
+	 * @return Returns a button mapped with the given name
+	 */
+	public Button getButton(String name) {
+		return buttonMap.get(name);
+	}
+
+	/**
+	 * Enables retrieving axes by name without knowing which controller is being
+	 * used.
+	 * 
+	 * @param name
+	 *            - The name of the axis
+	 * @return Returns an axis mapped with the given name
+	 */
+	public Axis getAxis(String name) {
+		return axisMap.get(name);
+	}
+
+	/**
+	 * Enables retrieving thumbsticks by name without knowing which controller is
+	 * being used.
+	 * 
+	 * @param name
+	 *            - The name of the thumbstick (usually just <code>"LS"</code> or
+	 *            <code>"RS"</code>)
+	 * @return Returns a thumbstick mapped with the given name
+	 */
+	public Thumbstick getThumbstick(String name) {
+		return thumbstickMap.get(name);
+	}
+
+	/**
+	 * Enables retrieving POV DPads by name without knowing which controller is
+	 * being used.
+	 * 
+	 * @param name
+	 *            - The name of the DPad (usually just <code>"DPAD"</code>)
+	 * @return Returns a button mapped with the given name
+	 */
+	public DPad getDPad(String name) {
+		return dpadMap.get(name);
+	}
+
+}