[#166] create class LightningController

undo previous changes

create LightningController

- use controller
- use shuffleboard when enabled

filter/XboxControllerFilter.java

@@ -2,9 +2,9 @@
 
 import edu.wpi.first.math.MathUtil;
 import edu.wpi.first.math.geometry.Rotation2d;
-import edu.wpi.first.wpilibj.XboxController;
+import frc.thunder.shuffleboard.LightningController;
 
-public class XboxControllerFilter extends XboxController{
+public class XboxControllerFilter extends LightningController{
 
     private filterMode mode;
 
@@ -35,6 +35,23 @@ public XboxControllerFilter(int port, double deadBand, double minPower, double m
         this.maxPower = maxPower;
     }
 
+    /**
+     * Constructor for XboxControllerFilter
+     * @param port      Port of controller
+     * @param deadBand  Deadband to apply to controller
+     * @param minPower  Minimum power to apply to controller
+     * @param maxPower  Maximum power to apply to controller
+     * @param mode      Filter mode to apply to controller
+     * @param name      Name of controller for sim
+     */
+    public XboxControllerFilter(int port, double deadBand, double minPower, double maxPower, filterMode mode, String name) {
+        super(name, port);
+        this.mode = mode;
+        this.deadband = deadBand;
+        this.minPower = minPower;
+        this.maxPower = maxPower;
+    }
+
     /**
      * Get the filtered left X value
      * @return Get the filtered left X value
@@ -102,17 +119,17 @@ private double[] filter(double X, double Y) {
             }
         }
 
-        if (xOutput > 1){
-            xOutput = 1;
+        if (xOutput > maxPower){
+            xOutput = maxPower;
         }
-        if (yOutput > 1){
-            yOutput = 1;
+        if (yOutput > maxPower){
+            yOutput = maxPower;
         }
-        if (xOutput < -1){
-            xOutput = -1;
+        if (xOutput < minPower){
+            xOutput = minPower;
         }
-        if (yOutput < -1){
-            yOutput = -1;
+        if (yOutput < minPower){
+            yOutput = minPower;
         }
 
 

shuffleboard/LightningController.java

@@ -0,0 +1,222 @@
+package frc.thunder.shuffleboard;
+
+import edu.wpi.first.wpilibj.XboxController;
+
+public class LightningController extends XboxController{
+
+    String name;
+
+    public LightningController(String name, int port){
+        super(port);
+        this.name = name;
+    }
+
+    public LightningController(int port){
+        super(port);
+        this.name = "Controller " + port + " ";
+    }
+
+    public boolean simController(){
+        return LightningShuffleboard.getBool(name, name + "simController", false);
+
+    }
+
+    /**
+     * @return the leftX value from the controller/shuffleboard
+     */
+    public double getLeftX(){
+        if (simController()){
+            return LightningShuffleboard.getDouble(name, name + "LeftX", 0d);
+        } else {
+            return super.getLeftX();
+        }
+    }
+
+    /**
+     * @return the leftY value from the controller/shuffleboard
+     */
+    public double getLeftY(){
+        if (simController()){
+            return LightningShuffleboard.getDouble(name, name + "LeftY", 0d);
+        } else {
+            return super.getLeftY();
+        }
+    }
+
+    /**
+     * @return the rightX value from the controller/shuffleboard
+     */
+    public double getRightX(){
+        if (simController()){
+            return LightningShuffleboard.getDouble(name, name + "RightX", 0d);
+        } else {
+            return super.getRightX();
+        }
+    }
+
+    /**
+     * @return the rightY value from the controller/shuffleboard
+     */
+    public double getRightY(){
+        if (simController()){
+            return LightningShuffleboard.getDouble(name, name + "RightY", 0d);
+        } else {
+            return super.getRightY();
+        }
+    }
+
+    /**
+     * @return the leftTriggerAxis value from the controller/shuffleboard
+     */
+    public double getLeftTriggerAxis(){
+        if (simController()){
+            return LightningShuffleboard.getDouble(name, name + "LeftTriggerAxis", 0d);
+        } else {
+            return super.getLeftTriggerAxis();
+        }
+    }
+
+    /**
+     * @return the rightTriggerAxis value from the controller/shuffleboard
+     */
+    public double getRightTriggerAxis(){
+        if (simController()){
+            return LightningShuffleboard.getDouble(name, name + "RightTriggerAxis", 0d);
+        } else {
+            return super.getRightTriggerAxis();
+        }
+    }
+
+    /**
+     * @return the leftBumper value from the controller/shuffleboard
+     */
+    public boolean getLeftBumper(){
+        if (simController()){
+            return LightningShuffleboard.getBool(name, name + "LeftBumper", false);
+        } else {
+            return super.getLeftBumper();
+        }
+    }
+
+    /**
+     * @return the rightBumper value from the controller/shuffleboard
+     */
+    public boolean getRightBumper(){
+        if (simController()){
+            return LightningShuffleboard.getBool(name, name + "RightBumper", false);
+        } else {
+            return super.getRightBumper();
+        }
+    }
+
+    /**
+     * @return the leftStickButton value from the controller/shuffleboard
+     */
+    public boolean getLeftStickButton(){
+        if (simController()){
+            return LightningShuffleboard.getBool(name, name + "LeftStickButton", false);
+        } else {
+            return super.getLeftStickButton();
+        }
+    }
+
+    /**
+     * @return the rightStickButton value from the controller/shuffleboard
+     */
+    public boolean getRightStickButton(){
+        if (simController()){
+            return LightningShuffleboard.getBool(name, name + "RightStickButton", false);
+        } else {
+            return super.getRightStickButton();
+        }
+    }
+
+    /**
+     * @return the AButton value from the controller/shuffleboard
+     */
+    public boolean getAButton(){
+        if (simController()){
+            return LightningShuffleboard.getBool(name, name + "AButton", false);
+        } else {
+            return super.getAButton();
+        }
+    }
+
+    /**
+     * @return the BButton value from the controller/shuffleboard
+     */
+    public boolean getBButton(){
+        if (simController()){
+            return LightningShuffleboard.getBool(name, name + "BButton", false);
+        } else {
+            return super.getBButton();
+        }
+    }
+
+    /**
+     * @return the XButton value from the controller/shuffleboard
+     */
+    public boolean getXButton(){
+        if (simController()){
+            return LightningShuffleboard.getBool(name, name + "XButton", false);
+        } else {
+            return super.getXButton();
+        }
+    }
+
+    /**
+     * @return the YButton value from the controller/shuffleboard
+     */
+    public boolean getYButton(){
+        if (simController()){
+            return LightningShuffleboard.getBool(name, name + "YButton", false);
+        } else {
+            return super.getYButton();
+        }
+    }
+
+    /**
+     * @return the backButton value from the controller/shuffleboard
+     */
+    public boolean getBackButton(){
+        if (simController()){
+            return LightningShuffleboard.getBool(name, name + "BackButton", false);
+        } else {
+            return super.getBackButton();
+        }
+    }
+
+    /**
+     * @return the startButton value from the controller/shuffleboard
+     */
+    public boolean getStartButton(){
+        if (simController()){
+            return LightningShuffleboard.getBool(name, name + "StartButton", false);
+        } else {
+            return super.getStartButton();
+        }
+    }
+
+    /**
+     * Initializes all the values for the controller on shuffleboard
+     */
+    public void initValues(){
+        LightningShuffleboard.getBool(name, name + "simController", false);
+        LightningShuffleboard.getDouble(name, name + "LeftX", 0d);
+        LightningShuffleboard.getDouble(name, name + "LeftY", 0d);
+        LightningShuffleboard.getDouble(name, name + "RightX", 0d);
+        LightningShuffleboard.getDouble(name, name + "RightY", 0d);
+        LightningShuffleboard.getDouble(name, name + "LeftTriggerAxis", 0d);
+        LightningShuffleboard.getDouble(name, name + "RightTriggerAxis", 0d);
+        LightningShuffleboard.getBool(name, name + "LeftBumper", false);
+        LightningShuffleboard.getBool(name, name + "RightBumper", false);
+        LightningShuffleboard.getBool(name, name + "LeftStickButton", false);
+        LightningShuffleboard.getBool(name, name + "RightStickButton", false);
+        LightningShuffleboard.getBool(name, name + "AButton", false);
+        LightningShuffleboard.getBool(name, name + "BButton", false);
+        LightningShuffleboard.getBool(name, name + "XButton", false);
+        LightningShuffleboard.getBool(name, name + "YButton", false);
+        LightningShuffleboard.getBool(name, name + "BackButton", false);
+        LightningShuffleboard.getBool(name, name + "StartButton", false);
+    }
+}