Added: VikingPigeon, more documentation, and deadband to controllers.…

… Changed: Variable names and position of code within some classes
FRC6854 · Feb 15, 2020 · dead390 · dead390
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diff --git a/README.md b/README.md
@@ -10,7 +10,7 @@ The JitPack is based off of FRC 1540s library ROOSTER and you can go check it ou
 ### Controller
 `viking.Controller`
 
-Includes support for X-Box One Controller for driving.
+Includes support for X-Box One Controller with pre-made inverts for proper values.
 
 ### CSV File Manager
 `viking.CSVFileManager`
@@ -38,15 +38,30 @@ A custom PID Controller for closed-loop control on FRC robots. Probably will be
 Modular speed controller for our swerve robot since we don't have enough of one motor controller.
 
 ### VikingSPX
-`viking.controllers.VikingSPX`
+`viking.controllers.ctre.VikingSPX`
 
 Wrapper for VictorSPX from CTRE. Includes easy to use controls + ability to follow master controllers.
 
 ### VikingSRX
-`viking.controllers.VikingSPX`
+`viking.controllers.ctre.VikingSPX`
 
 Wrapper for TalonSRX from CTRE. Includes easy to use controls + closed-loop control + motion profiling.
 
+### VikingPigeon
+`viking.controllers.ctre.VikingPigeon`
+
+Wrapper for PigeonIMU from CTRE. More features to come in future updates when we actually get a PigeonIMU.
+
+### VikingMAX
+`viking.controllers.rev.VikingMAX`
+
+Wrapper for CANSparkMAX from REV Robotics. Includes easy to use controls + closed-loop control + smart motion + follower controllers.
+
+### ColorSensor
+`viking.controllers.rev.ColorSensor`
+
+Wrapper for ColorSensorV3 from REV Robotics. Comes with matcher for detecting colours from the sensor output.
+
 ### LED Controller
 `viking.led.LEDController`
 
@@ -78,7 +93,10 @@ dependencies {
 }
 ```
 
-Additionally, you should be using the latest version of GradleRIO with CTRE Phoenix vendor libraries installed.
+Make sure you have the following `vendordeps` added to your project.
+- Phoenix
+- REVColorSensorV3
+- REVRobotics
 
 We use [JitPack](https://jitpack.io) as a Gradle/Maven repository. This means that if you add the project using Gradle it will be automatically updated with the latest changes to the `master` branch, as well as source code and documentation .jar files.
 

diff --git a/src/main/java/viking/Controller.java b/src/main/java/viking/Controller.java
@@ -4,106 +4,120 @@
 
 public class Controller {
 
-    private XboxController controller;
+  private XboxController controller;
 
-    private double lTriggerDeadband = 0;
-    private double rTriggerDeadband = 0;
+  private double lTriggerDeadband = 0;
+  private double rTriggerDeadband = 0;
 
-    private double lJoystickDeadbandX = 0;
-    private double lJoystickDeadbandY = 0;
+  private double lJoystickDeadbandX = 0;
+  private double lJoystickDeadbandY = 0;
 
-    private double rJoystickDeadbandX = 0;
-    private double rJoystickDeadbandY = 0;
+  private double rJoystickDeadbandX = 0;
+  private double rJoystickDeadbandY = 0;
 
-    public Controller(int port) {
-        controller = new XboxController(port);
-    }
+  public Controller(int port) {
+      controller = new XboxController(port);
+  }
 
-    public void setControllerLeftStickXDeadband(double value) {
-      lJoystickDeadbandX = value;
-    }
+  public double getControllerLeftStickX() {
+    if (controller.getRawAxis(0) < lJoystickDeadbandX) return 0;
+    return controller.getRawAxis(0);
+  }
 
-    public void setControllerLeftStickYDeadband(double value) {
-      lJoystickDeadbandY = value;
-    }
+  public double getControllerLeftStickY() {
+    if (controller.getRawAxis(1) * -1 < lJoystickDeadbandY) return 0;
+    return controller.getRawAxis(1) * -1;
+  }
 
-    public void setControllerRightStickXDeadband(double value) {
-      rJoystickDeadbandX = value;
-    }
+  public double getControllerRightStickX() {
+    if (controller.getRawAxis(4) < rJoystickDeadbandX) return 0;
+    return controller.getRawAxis(4);
+  }
 
-    public void setControllerRightStickYDeadband(double value) {
-      rJoystickDeadbandY = value;
-    }
+  public double getControllerRightStickY() {
+    if (controller.getRawAxis(5) < rJoystickDeadbandY) return 0;
+    return controller.getRawAxis(5);
+  }
 
-    public double getControllerLeftStickY() {
-        return controller.getRawAxis(1) * -1;
-      }
-
-      public double getControllerLeftStickX() {
-        return controller.getRawAxis(0);
-      }
-
-      public double getControllerRightStickX() {
-        return controller.getRawAxis(4);
-      }
-
-      public double getControllerRightStickY() {
-        return controller.getRawAxis(5);
-      }
-
-      public double getControllerLTrigger() {
-        return controller.getRawAxis(2);
-      }
-
-      public double getControllerRTrigger() {
-        return controller.getRawAxis(3);
-      }
-
-      public boolean getControllerLBumperPressed(){
-        return controller.getRawButtonPressed(5);
-      }
-
-      public boolean getControllerLBumper(){
-        return controller.getRawButton(5);
-      }
-
-      public boolean getControllerRBumperPressed(){
-        return controller.getRawButtonPressed(6);
-      }
-
-      public boolean getControllerRBumper(){
-        return controller.getRawButton(6);
-      }
-
-      public boolean getControllerAButtonPressed() {
-        return controller.getAButtonPressed();
-      }
-
-      public boolean getControllerAButton() {
-        return controller.getAButton();
-      }
-
-      public boolean getControllerBButtonPressed() {
-        return controller.getBButtonPressed();
-      }
-
-      public boolean getControllerBButton() {
-        return controller.getBButton();
-      }
-
-      public boolean getControllerXButtonPressed() {
-        return controller.getXButtonPressed();
-      }
-
-      public boolean getControllerYButtonPressed() {
-        return controller.getYButtonPressed();
-      }
-
-      public boolean getControllerStartButtonPressed() {
-        return controller.getStartButtonPressed();
-      }
-
-      public boolean getControllerStartButton(){
-        return controller.getStartButton();
-      }
+  public double getControllerLTrigger() {
+    if (controller.getRawAxis(2) < lTriggerDeadband) return 0;
+    return controller.getRawAxis(2);
+  }
+
+  public double getControllerRTrigger() {
+    if (controller.getRawAxis(3) < rTriggerDeadband) return 0;
+    return controller.getRawAxis(3);
+  }
+
+  public boolean getControllerLBumperPressed(){
+    return controller.getRawButtonPressed(5);
+  }
+
+  public boolean getControllerLBumper(){
+    return controller.getRawButton(5);
+  }
+
+  public boolean getControllerRBumperPressed(){
+    return controller.getRawButtonPressed(6);
+  }
+
+  public boolean getControllerRBumper(){
+    return controller.getRawButton(6);
+  }
+
+  public boolean getControllerAButtonPressed() {
+    return controller.getAButtonPressed();
+  }
+
+  public boolean getControllerAButton() {
+    return controller.getAButton();
+  }
+
+  public boolean getControllerBButtonPressed() {
+    return controller.getBButtonPressed();
+  }
+
+  public boolean getControllerBButton() {
+    return controller.getBButton();
+  }
+
+  public boolean getControllerXButtonPressed() {
+    return controller.getXButtonPressed();
+  }
+
+  public boolean getControllerYButtonPressed() {
+    return controller.getYButtonPressed();
+  }
+
+  public boolean getControllerStartButtonPressed() {
+    return controller.getStartButtonPressed();
+  }
+
+  public boolean getControllerStartButton(){
+    return controller.getStartButton();
+  }
+
+  public void setControllerLeftStickXDeadband(double value) {
+    lJoystickDeadbandX = value;
+  }
+
+  public void setControllerLeftStickYDeadband(double value) {
+    lJoystickDeadbandY = value;
+  }
+
+  public void setControllerRightStickXDeadband(double value) {
+    rJoystickDeadbandX = value;
+  }
+
+  public void setControllerRightStickYDeadband(double value) {
+    rJoystickDeadbandY = value;
+  }
+
+  public void setControllerLeftTriggerDeadband(double value) {
+    lTriggerDeadband = value;
+  }
+
+  public void setControllerRightTriggerDeadband(double value) {
+    rTriggerDeadband = value;
+  }
 }
diff --git a/src/main/java/viking/controllers/ctre/VikingPigeon.java b/src/main/java/viking/controllers/ctre/VikingPigeon.java
@@ -0,0 +1,30 @@
+package viking.controllers.ctre;
+
+import com.ctre.phoenix.sensors.PigeonIMU;
+
+public class VikingPigeon {
+
+    private PigeonIMU gyro;
+
+    /**
+     * @param controller the master VikingSRX controller
+     */
+    public VikingPigeon(VikingSRX controller) {
+        gyro = new PigeonIMU(controller.getTalonSRX());
+
+        gyro.configFactoryDefault();
+    }
+
+    /**
+     * Get the current yaw
+     * @return the current yaw from 0 to 360
+     */
+    public double getYaw() {
+        return gyro.getAbsoluteCompassHeading();
+    }
+
+    public PigeonIMU getPigeonIMU() {
+        return gyro;
+    }
+}
+