massive controls change.

comp/src/main/java/org/team100/frc2024/Climber/Climber.java

@@ -1,5 +1,6 @@
 // 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 org.team100.frc2024.Climber;
 

comp/src/main/java/org/team100/frc2024/RobotContainer.java

@@ -102,7 +102,7 @@ public RobotContainer(TimedRobot100 robot) throws IOException {
 
         final TrajectoryVisualization viz = new TrajectoryVisualization(fieldLogger);
         final DriverControl driverControl = new DriverControlProxy(logger, async);
-        final OperatorControl operatorControl = new OperatorControlProxy(async);
+        final OperatorControlProxy operatorControl = new OperatorControlProxy(async);
         final SwerveKinodynamics swerveKinodynamics = SwerveKinodynamicsFactory.get();
 
 
@@ -216,7 +216,7 @@ public RobotContainer(TimedRobot100 robot) throws IOException {
 
         // DEFAULT COMMANDS
         m_drive.setDefaultCommand(driveManually);
-        m_climber.setDefaultCommand(new ClimberRotate(m_climber, 0.2, operatorControl::ramp));
+        m_climber.setDefaultCommand(new ClimberRotate(m_climber, 0.2, operatorControl::climb));
 
 
         //DRIVER BUTTONS

lib/src/main/java/org/team100/lib/hid/OperatorControl.java

@@ -12,63 +12,100 @@ default String getHIDName() {
         return "No HID Found!!";
     }
 
-    default boolean pivotToAmpPosition() {
+    default boolean getButton1() {
         return false;
     }
 
-    default boolean outtake() {
+    default boolean getButton2() {
         return false;
     }
 
-    default boolean feed() {
+    default boolean getButton3() {
         return false;
     }
 
-    default boolean intake() {
+    default boolean getButton4() {
         return false;
     }
 
-    default double ramp() {
-        return 0.0;
+    default boolean getButton5() {
+        return false;
     }
 
-    // this exists to bind to commands we don't want to run,
-    // but we don't want them to rot either.
-    default boolean never() {
+    default boolean getButton6() {
         return false;
     }
 
-    default boolean homeClimber() {
+    default boolean getButton7() {
         return false;
     }
 
-    default double leftClimb() {
-        return 0;
+    default boolean getButton8() {
+        return false;
     }
 
-    default double rightClimb() {
-        return 0;
+    default boolean getButton9() {
+        return false;
     }
 
-    /** Put the climber hooks in the "up" position. */
-    default boolean climbUpPosition() {
+    default boolean getButton10() {
         return false;
     }
 
-    /** Put the climber hooks in the "down" position. */
-    default boolean climbDownPosition() {
+    default boolean getButton11() {
         return false;
     }
 
-    default boolean feedToAmp() {
+    default boolean getButton12() {
         return false;
     }
 
-    default boolean outtakeFromAmp() {
+    default boolean getButton13() {
         return false;
     }
 
-    default boolean testShoot() {
+    default boolean getButton14() {
         return false;
     }
+
+    default boolean getButton15() {
+        return false;
+    }
+
+    default double getAxis1() {
+        return 0.0;
+    }
+
+    default double getAxis2() {
+        return 0.0;
+    }
+
+    default double getAxis3() {
+        return 0.0;
+    }
+
+    default double getAxis4() {
+        return 0.0;
+    }
+
+    default double getAxis5() {
+        return 0.0;
+    }
+
+    default double getAxis6() {
+        return 0.0;
+    }
+
+    default double getAxis7() {
+        return 0.0;
+    }
+
+    default double getAxis8() {
+        return 0.0;
+    }
+
+    default double getAxis9() {
+        return 0.0;
+    }
+
 }

lib/src/main/java/org/team100/lib/hid/OperatorControlProxy.java

@@ -1,5 +1,8 @@
 package org.team100.lib.hid;
 
+import java.util.HashMap;
+import java.util.Map;
+
 import org.team100.lib.async.Async;
 import org.team100.lib.util.Util;
 
@@ -13,21 +16,95 @@ public class OperatorControlProxy implements OperatorControl {
     private static class NoOperatorControl implements OperatorControl {
     }
 
+
+    public enum GamepadControls {
+        A(1),
+        B(2),
+        X(3),
+        Y(4),
+        LeftBumper(5),
+        RightBumper(6),
+        RightStickButton(7),
+        LeftStickButton(8),
+        Start(9),
+        POVUp(10),
+        POVRight(11),
+        POVDown(12),
+        POVLeft(13),
+        RightYAxis(1),
+        RightXAxis(2),
+        LeftYAxis(3),
+        LeftXAxis(4),
+        RightTriggerAxis(5),
+        LeftTriggerAxis(6);
+
+
+        private final int value;
+
+        GamepadControls(int value) {
+            this.value = value;
+        }
+
+        public int getValue() {
+            return value;
+        }
+    }
+
     private static final int kPort = 1;
     private static final double kFreq = 1;
 
     private String m_name;
     private OperatorControl m_operatorControl;
 
+    private final Map<String, Integer> genericButtons = new HashMap<>();
+    private final Map<String, Integer> genericAxis = new HashMap<>();
+
+    private final Map<String, GamepadControls> gamepadButtons = new HashMap<>();
+    private final Map<String, GamepadControls> gamepadAxis = new HashMap<>();
+
+
+
     /**
      * The async is just to scan for control updates, maybe don't use a whole thread
      * for it.
      */
     public OperatorControlProxy(Async async) {
+        populateGenericControls();
+        populateGamePadControls();
+
         refresh();
         async.addPeriodic(this::refresh, kFreq, "OperatorControlProxy");
     }
 
+
+
+    public void populateGenericControls() {
+        // Map each action name to its corresponding method
+        genericAxis.put("climb", 1);
+
+    }
+
+    public void populateGamePadControls() {
+        // Map each action name to its corresponding method
+        gamepadAxis.put("climb", GamepadControls.RightYAxis);
+
+    }
+
+    public boolean retrieveButton(String action){
+        if(m_name == "F310" || m_name == "Xbox"){
+            return getButton(gamepadButtons.get(action).getValue());
+        }
+        return getButton(genericButtons.get(action));
+    }
+
+    public double retrieveAxis(String action){
+        if(m_name == "F310" || m_name == "Xbox"){
+            return getAxis(gamepadAxis.get(action).getValue());
+        }
+        return getAxis(genericAxis.get(action));
+    }
+
+
     public void refresh() {
         // name is blank if not connected
         String name = DriverStation.getJoystickName(kPort);
@@ -60,79 +137,53 @@ private static OperatorControl getOperatorControl(String name) {
         return new NoOperatorControl();
     }
 
+    //MISC
     @Override
     public String getHIDName() {
         return m_operatorControl.getHIDName();
     }
 
-    @Override
-    public boolean pivotToAmpPosition() {
-        return m_operatorControl.pivotToAmpPosition();
-    }
-
-    @Override
-    public boolean outtake() {
-        return m_operatorControl.outtake();
-    }
-
-    @Override
-    public boolean intake() {
-        return m_operatorControl.intake();
-    }
-
-    @Override
-    public boolean never() {
-        return m_operatorControl.never();
-    }
-
-    @Override
-    public boolean feed() {
-        return m_operatorControl.feed();
-    }
-
-    @Override
-    public double ramp() {
-        return m_operatorControl.ramp();
-    }
-
-    @Override
-    public boolean homeClimber() {
-        return m_operatorControl.homeClimber();
-    }
-
-    @Override
-    public double leftClimb() {
-        return m_operatorControl.leftClimb();
+
+    //Generic Buttons
+    public boolean getButton(int buttonNumber) {
+        switch (buttonNumber) {
+            case 1: return m_operatorControl.getButton1();
+            case 2: return m_operatorControl.getButton2();
+            case 3: return m_operatorControl.getButton3();
+            case 4: return m_operatorControl.getButton4();
+            case 5: return m_operatorControl.getButton5();
+            case 6: return m_operatorControl.getButton6();
+            case 7: return m_operatorControl.getButton7();
+            case 8: return m_operatorControl.getButton8();
+            case 9: return m_operatorControl.getButton9();
+            case 10: return m_operatorControl.getButton10();
+            case 11: return m_operatorControl.getButton11();
+            case 12: return m_operatorControl.getButton12();
+            case 13: return m_operatorControl.getButton13();
+            default: throw new IllegalArgumentException("Invalid button number: " + buttonNumber);
+        }
     }
 
-    @Override
-    public double rightClimb() {
-        return m_operatorControl.rightClimb();
+
+    //Generic Axis
+    public double getAxis(int axisNumber) {
+        switch (axisNumber) {
+            case 1: return m_operatorControl.getAxis1();
+            case 2: return m_operatorControl.getAxis2();
+            case 3: return m_operatorControl.getAxis3();
+            case 4: return m_operatorControl.getAxis4();
+            case 5: return m_operatorControl.getAxis5();
+            default: throw new IllegalArgumentException("Invalid button number: " + axisNumber);
+        }
     }
 
-    @Override
-    public boolean climbUpPosition() {
-        return m_operatorControl.climbUpPosition();
-    }
+    //ACTIONS
+    public double climb(){
+        return retrieveAxis("climb");
+    }   
 
-    @Override
-    public boolean climbDownPosition() {
-        return m_operatorControl.climbDownPosition();
-    }
+
 
-    @Override
-    public boolean feedToAmp() {
-        return m_operatorControl.feedToAmp();
-    }
 
-    @Override
-    public boolean outtakeFromAmp() {
-        return m_operatorControl.outtakeFromAmp();
-    }
-
-    @Override
-    public boolean testShoot() {
-        return m_operatorControl.testShoot();
-    }
 
 }