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Update RazerWrapper.java
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‎src/main/java/ca/team4308/absolutelib/control/RazerWrapper.java‎

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package ca.team4308.absolutelib.control;
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import edu.wpi.first.wpilibj.Joystick;
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import ca.team4308.absolutelib.control.XBoxWrapper.XBoxMapping;
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import edu.wpi.first.wpilibj.GenericHID.RumbleType;
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import edu.wpi.first.wpilibj.Joystick;
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import edu.wpi.first.wpilibj2.command.button.JoystickButton;
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import edu.wpi.first.wpilibj2.command.button.POVButton;
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import edu.wpi.first.wpilibj2.command.button.Trigger;
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public class RazerWrapper {
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public static class RazerMapping {
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public static int A = 1;
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public static int B = 2;
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public static int X = 3;
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public static int Y = 4;
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public static int LB = 5;
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public static int RB = 6;
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public static int Start = 7;
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public static int Back = 8;
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public static int LeftStickButton = 9;
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public static int RightStickButton = 10;
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}
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public final Joystick joystick;
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public final JoystickButton A;
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public final JoystickButton B;
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public final JoystickButton X;
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public final JoystickButton Y;
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public final JoystickButton LB;
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public final JoystickButton RB;
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public final JoystickButton M1;
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public final JoystickButton M2;
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public final JoystickButton LeftStickButton;
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public final JoystickButton RightStickButton;
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public final POVToJoystick M3;
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public final POVToJoystick M4;
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public final POVToJoystick M5;
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public final POVToJoystick M6;
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public final Trigger RightTriggerTrigger;
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public final Trigger LeftTriggerTrigger;
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public RazerWrapper(int port) {
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/*
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* requires: m1 to be start
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* m2 to be back
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* m3 to be povup
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* m4 to be povdown
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* m5 to be povleft
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* m6 to be povright
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*
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* these buttons will do the same thing, but should not be used anyways
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*/
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this.joystick = new Joystick(port);
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this.A = new JoystickButton(joystick, RazerMapping.A);
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this.B = new JoystickButton(joystick, RazerMapping.B);
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this.X = new JoystickButton(joystick, RazerMapping.X);
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this.Y = new JoystickButton(joystick, RazerMapping.Y);
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this.LB = new JoystickButton(joystick, RazerMapping.LB);
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this.RB = new JoystickButton(joystick, RazerMapping.RB);
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this.LeftStickButton = new JoystickButton(joystick, RazerMapping.LeftStickButton);
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this.RightStickButton = new JoystickButton(joystick, RazerMapping.RightStickButton);
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this.M1 = new JoystickButton(joystick, RazerMapping.Start);
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this.M2 = new JoystickButton(joystick, RazerMapping.Back);
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this.M3 = new POVToJoystick(joystick, 0);
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this.M4 = new POVToJoystick(joystick, 180);
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this.M5 = new POVToJoystick(joystick, 90);
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this.M6 = new POVToJoystick(joystick, 270);
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this.RightTriggerTrigger = new Trigger(() -> getRightTriggerAsBoolean());
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this.LeftTriggerTrigger = new Trigger(() -> getLeftTriggerAsBoolean());
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}
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public double getLeftX() {
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return joystick.getRawAxis(0);
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}
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public double getLeftY() {
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return joystick.getRawAxis(1);
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}
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public double getRightX() {
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return joystick.getRawAxis(4);
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}
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public double getRightY() {
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return joystick.getRawAxis(5);
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}
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public double getLeftTrigger() {
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return joystick.getRawAxis(2);
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}
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public double getRightTrigger() {
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return joystick.getRawAxis(3);
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}
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public boolean getLeftTriggerAsBoolean() {
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return (joystick.getRawAxis(2) > 0.5);
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}
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public boolean getRightTriggerAsBoolean() {
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return (joystick.getRawAxis(3) > 0.15);
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}
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public void setRumble(RumbleType type, double power) {
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joystick.setRumble(type, power);
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}
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}
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public static class RazerMapping {
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public static int A = 1;
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public static int B = 2;
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public static int X = 3;
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public static int Y = 4;
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public static int LB = 5;
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public static int RB = 6;
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public static int Start = 7;
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public static int Back = 8;
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public static int LeftStickButton = 9;
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public static int RightStickButton = 10;
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}
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public final Joystick joystick;
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public final JoystickButton A;
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public final JoystickButton B;
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public final JoystickButton X;
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public final JoystickButton Y;
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public final JoystickButton LB;
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public final JoystickButton RB;
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public final JoystickButton M1;
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public final JoystickButton M2;
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public final JoystickButton LeftStickButton;
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public final JoystickButton RightStickButton;
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public final POVToJoystick M3;
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public final POVToJoystick M4;
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public final POVToJoystick M5;
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public final POVToJoystick M6;
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public final Trigger RightTrigger;
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public final Trigger LeftTrigger;
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public final JoystickButton Start;
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public final JoystickButton Back;
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public final POVButton povUp;
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public final POVButton povRight;
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public final POVButton povDown;
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public final POVButton povLeft;
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public RazerWrapper(int port) {
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/*
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* requires: m1 to be start
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* m2 to be back
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* m3 to be povup
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* m4 to be povdown
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* m5 to be povleft
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* m6 to be povright
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*
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* these buttons will do the same thing, but should not be used anyways
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*/
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this.joystick = new Joystick(port);
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this.A = new JoystickButton(joystick, RazerMapping.A);
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this.B = new JoystickButton(joystick, RazerMapping.B);
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this.X = new JoystickButton(joystick, RazerMapping.X);
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this.Y = new JoystickButton(joystick, RazerMapping.Y);
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this.LB = new JoystickButton(joystick, RazerMapping.LB);
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this.RB = new JoystickButton(joystick, RazerMapping.RB);
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this.LeftStickButton = new JoystickButton(joystick, RazerMapping.LeftStickButton);
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this.RightStickButton = new JoystickButton(joystick, RazerMapping.RightStickButton);
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this.M1 = new JoystickButton(joystick, RazerMapping.Start);
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this.M2 = new JoystickButton(joystick, RazerMapping.Back);
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this.M3 = new POVToJoystick(joystick, 0);
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this.M4 = new POVToJoystick(joystick, 180);
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this.M5 = new POVToJoystick(joystick, 270);
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this.M6 = new POVToJoystick(joystick, 90);
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this.RightTrigger = new Trigger(() -> getRightTriggerAsBoolean());
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this.LeftTrigger = new Trigger(() -> getLeftTriggerAsBoolean());
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this.Start = new JoystickButton(joystick, XBoxMapping.Start);
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this.Back = new JoystickButton(joystick, XBoxMapping.Back);
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this.povUp = new POVButton(joystick, 0);
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this.povRight = new POVButton(joystick, 90);
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this.povDown = new POVButton(joystick, 180);
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this.povLeft = new POVButton(joystick, 270);
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}
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public double getLeftX() {
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return joystick.getRawAxis(0);
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}
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public double getLeftY() {
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return joystick.getRawAxis(1);
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}
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public double getRightX() {
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return joystick.getRawAxis(4);
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}
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public double getRightY() {
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return joystick.getRawAxis(5);
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}
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public double getLeftTrigger() {
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return joystick.getRawAxis(2);
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}
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public double getRightTrigger() {
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return joystick.getRawAxis(3);
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}
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public boolean getLeftTriggerAsBoolean() {
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return (joystick.getRawAxis(2) > 0.5);
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}
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public boolean getRightTriggerAsBoolean() {
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return (joystick.getRawAxis(3) > 0.5);
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}
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public boolean getLeftTriggerAsBoolean(double threshold) {
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return (joystick.getRawAxis(2) > threshold);
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}
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public boolean getRightTriggerAsBoolean(double threshold) {
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return (joystick.getRawAxis(3) > threshold);
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}
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public void setRumble(RumbleType type, double power) {
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joystick.setRumble(type, power);
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}
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}

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