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controller.py
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controller.py
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import wpilib
from joystick_profiles import joysticks
joysticks_profile = 'xbox_controller'
joystick_map = joysticks[joysticks_profile]
LOW_SENSITIVITY_FACTOR = 0.6
class Controller:
def __init__(self, joystick_port=0):
self.stick = wpilib.Joystick(joystick_port)
self.low_sensitivity_mode = False
self.joystick_map = joystick_map
def is_pressed(self, button_name: str) -> bool:
return self.stick.getRawButtonPressed(joystick_map[button_name])
def is_released(self, button_name: str) -> bool:
return self.stick.getRawButtonReleased(joystick_map[button_name])
def is_held(self, button_name: str) -> bool:
return self.stick.getRawButton(joystick_map[button_name])
def are_all_released(self, *button_names: str) -> bool:
button_states = [self.is_released(button_name) for button_name in button_names]
return all(button_states)
def are_any_released(self, *button_names: str) -> bool:
button_states = [self.is_released(button_name) for button_name in button_names]
return any(button_states)
def are_all_pressed(self, *button_names: str) -> bool:
button_states = [self.is_pressed(button_name) for button_name in button_names]
return all(button_states)
def are_any_pressed(self, *button_names: str) -> bool:
button_states = [self.is_pressed(button_name) for button_name in button_names]
return any(button_states)
def are_all_held(self, *button_names: str) -> bool:
button_states = [self.is_held(button_name) for button_name in button_names]
return all(button_states)
def are_any_held(self, *button_names: str) -> bool:
button_states = [self.is_held(button_name) for button_name in button_names]
return any(button_states)
def axis_value(self, axis_name:str) -> bool:
axis_value = self.stick.getRawAxis(joystick_map[axis_name])
return axis_value
def axis_to_digital(self, axis_name: str, threshold: float) -> bool:
if threshold < 0:
return self.axis_value(axis_name) < threshold
return self.axis_value(axis_name) > threshold
def axis_between(self, axis_name: str, lower_threshold: float, upper_threshold: float) -> bool:
axis_value = self.axis_value(axis_name)
return axis_value > lower_threshold and axis_value < upper_threshold
def sensitivity_factor(self) -> float:
if self.low_sensitivity_mode == True:
return LOW_SENSITIVITY_FACTOR
return 1.0
def get_drive(self) -> tuple[float, float]:
rt_value = self.axis_value('AXIS_RIGHT_TRIGGER')
lt_value = self.axis_value('AXIS_LEFT_TRIGGER')
combined_value = lt_value - rt_value
sensitivity_factor = self.sensitivity_factor()
forward_speed = combined_value * sensitivity_factor
rotation_speed = self.axis_value('AXIS_LEFT_X') * sensitivity_factor
return forward_speed , rotation_speed
def toggle_low_sensitivity_mode(self) -> bool:
self.low_sensitivity_mode = not self.low_sensitivity_mode