added rumblyrumble

core/src/main/java/org/teamtators/rotator/commands/CoreCommands.java

@@ -28,6 +28,8 @@ public static void register(ConfigCommandStore commandStore) {
         commandStore.registerClass(TurretTarget.class);
         commandStore.registerClass(TurretPrep.class);
 
+        commandStore.registerClass(OIRumble.class);
+
         commandStore.registerClass(WaitCommand.class);
         commandStore.registerClass(ChooserCommand.class);
     }

core/src/main/java/org/teamtators/rotator/commands/OIRumble.java

@@ -0,0 +1,70 @@
+package org.teamtators.rotator.commands;
+
+import org.teamtators.rotator.CommandBase;
+import org.teamtators.rotator.CoreRobot;
+import org.teamtators.rotator.config.Configurable;
+import org.teamtators.rotator.control.Timer;
+import org.teamtators.rotator.operatorInterface.AbstractOperatorInterface;
+import org.teamtators.rotator.operatorInterface.LogitechF310;
+import org.teamtators.rotator.operatorInterface.RumbleType;
+
+public class OIRumble extends CommandBase implements Configurable<OIRumble.Config> {
+
+    private Config config;
+    private int times;
+    private Timer timer;
+    private boolean rumbling;
+    private LogitechF310 joystick;
+    private AbstractOperatorInterface operatorInterface;
+
+    public OIRumble(CoreRobot robot) {
+        super("OIRumble");
+        timer = robot.timer();
+        this.operatorInterface = robot.operatorInterface();
+    }
+
+    @Override
+    public void configure(Config config) {
+        this.config = config;
+        if (config.joystick.equals("driver")) {
+            joystick = operatorInterface.driverJoystick();
+        } else if (config.joystick.equals("gunner")) {
+            joystick = operatorInterface.gunnerJoystick();
+        }
+    }
+
+    @Override
+    protected void initialize() {
+        logger.info("Rumbling {} times", config.maxTimes);
+        times = 0;
+        joystick.setRumble(config.type, (float) config.value);
+        rumbling = true;
+        timer.start();
+    }
+
+    @Override
+    protected boolean step() {
+        if (rumbling && timer.hasPeriodElapsed(config.onTime)) {
+            joystick.setRumble(config.type, 0);
+            rumbling = false;
+            times++;
+        } else if (!rumbling && timer.hasPeriodElapsed(config.offTime)) {
+            joystick.setRumble(config.type, (float) config.value);
+            rumbling = true;
+        }
+        return times >= config.maxTimes;
+    }
+
+    protected void finish() {
+        joystick.setRumble(config.type, 0);
+    }
+
+    static class Config {
+        public int maxTimes;
+        public double onTime;
+        public double offTime;
+        public String joystick = "driver";
+        public RumbleType type;
+        public double value;
+    }
+}

core/src/main/java/org/teamtators/rotator/operatorInterface/LogitechF310.java

@@ -28,6 +28,8 @@ default TriggerSource getTriggerSource(Button button) {
         return new LogitechTrigger(this, button);
     }
 
+    void setRumble(RumbleType rumbleType, float value);
+
     /**
      * Enum containing the location of all the buttons on a Logitech F310 gamepad
      */
@@ -115,4 +117,5 @@ public boolean getActive() {
             return joystick.getButtonValue(button);
         }
     }
+
 }

core/src/main/java/org/teamtators/rotator/operatorInterface/RumbleType.java

@@ -0,0 +1,6 @@
+package org.teamtators.rotator.operatorInterface;
+
+public enum RumbleType {
+    LEFT,
+    RIGHT
+}

core/src/main/java/org/teamtators/rotator/operatorInterface/noop/NoopLogitechF310.java

@@ -1,6 +1,7 @@
 package org.teamtators.rotator.operatorInterface.noop;
 
 import org.teamtators.rotator.operatorInterface.LogitechF310;
+import org.teamtators.rotator.operatorInterface.RumbleType;
 
 public class NoopLogitechF310 implements LogitechF310 {
     @Override
@@ -12,4 +13,9 @@ public double getAxisValue(Axis axisKind) {
     public boolean getButtonValue(Button button) {
         return false;
     }
+
+    @Override
+    public void setRumble(RumbleType rumbleType, float value) {
+
+    }
 }

desktop/src/main/java/org/teamtators/rotator/ui/WASDJoystick.java

@@ -3,6 +3,7 @@
 import org.slf4j.Logger;
 import org.slf4j.LoggerFactory;
 import org.teamtators.rotator.operatorInterface.LogitechF310;
+import org.teamtators.rotator.operatorInterface.RumbleType;
 import org.teamtators.rotator.scheduler.TriggerSource;
 
 import javax.inject.Inject;
@@ -29,6 +30,11 @@ public WASDJoystick() {
         reset();
     }
 
+    @Override
+    public void setRumble(RumbleType rumbleType, float value) {
+
+    }
+
     public void reset() {
         up = false;
         left = false;

rio/src/main/java/org/teamtators/rotator/operatorInterface/WPILibLogitechF310.java

@@ -21,6 +21,18 @@ public WPILibLogitechF310(int port) {
         super(port);
     }
 
+    @Override
+    public void setRumble(org.teamtators.rotator.operatorInterface.RumbleType type, float value) {
+        switch (type) {
+            case LEFT:
+                setRumble(RumbleType.kLeftRumble, value);
+                break;
+            case RIGHT:
+                setRumble(RumbleType.kRightRumble, value);
+                break;
+        }
+    }
+
     @Override
     public double getAxisValue(Axis axisKind) {
         return getRawAxis(axisKind.getAxisNumber());