add thresholds to triggerxboxcontroller

Author: spacey-sooty

wombat/src/main/cpp/behaviour/TriggerXboxController.cpp

@@ -4,6 +4,8 @@
 
 #include "behaviour/TriggerXboxController.h"
 
+#include "utils/Util.h"
+
 using namespace behaviour;
 
 TriggerXboxController::TriggerXboxController(int port) : m_hid{port} {}
@@ -136,6 +138,30 @@ Trigger* TriggerXboxController::RightBumperPressed() {
   return new Trigger([this]() { return m_hid.GetRightBumperPressed(); }, "Right bumper pressed trigger");
 }
 
+Trigger* TriggerXboxController::RightTriggerThreshold(double threshold) {
+  return new Trigger([this]() { return GetRightTriggerAxis() > 0.05; }, "Right Trigger threshold trigger");
+}
+
+Trigger* TriggerXboxController::LeftTriggerThreshold(double threshold) {
+  return new Trigger([this]() { return GetLeftTriggerAxis() > 0.05; }, "Left Trigger threshold trigger");
+}
+
+Trigger* TriggerXboxController::RightJoystickXThreshold(double threshold) {
+  return new Trigger([this]() { return GetRightX() > 0.05; }, "Right Joystick X threshold trigger");
+}
+
+Trigger* TriggerXboxController::RightJoystickYThreshold(double threshold) {
+  return new Trigger([this]() { return GetRightY() > 0.05; }, "Right Joystick Y threshold trigger");
+}
+
+Trigger* TriggerXboxController::LeftJoystickXThreshold(double threshold) {
+  return new Trigger([this]() { return GetRightX() > 0.05; }, "Left Joystick X threshold trigger");
+}
+
+Trigger* TriggerXboxController::LeftJoystickYThreshold(double threshold) {
+  return new Trigger([this]() { return GetRightY() > 0.05; }, "Left Joystick Y threshold trigger");
+}
+
 double TriggerXboxController::GetRightTriggerAxis() {
   return m_hid.GetRightTriggerAxis();
 }

wombat/src/main/include/behaviour/TriggerXboxController.h

@@ -181,6 +181,48 @@ class TriggerXboxController {
    */
   Trigger* StartButtonReleased();
 
+  /**
+   * Creates a new Trigger binded to the Right Trigger being over the threshold.
+   *
+   * @param threshold The deadzone for the Trigger.
+   */
+  Trigger* RightTriggerThreshold(double threshold);
+
+  /**
+   * Creates a new Trigger binded to the Left Trigger being over the threshold.
+   *
+   * @param threshold The deadzone for the Trigger.
+   */
+  Trigger* LeftTriggerThreshold(double threshold);
+
+  /**
+   * Creates a new Trigger binded to the Left Joystick being over the threshold on the X axis.
+   *
+   * @param threshold The deadzone for the Trigger.
+   */
+  Trigger* LeftJoystickXThreshold(double threshold);
+
+  /**
+   * Creates a new Trigger binded to the Left Joystick being over the threshold on the Y axis.
+   *
+   * @param threshold The deadzone for the Trigger.
+   */
+  Trigger* LeftJoystickYThreshold(double threshold);
+
+  /**
+   * Creates a new Trigger binded to the Right Joystick being over the threshold on the Y axis.
+   *
+   * @param threshold The deadzone for the Trigger.
+   */
+  Trigger* RightJoystickXThreshold(double threshold);
+
+  /**
+   * Creates a new Trigger binded to the Right Joystick being over the threshold on the X axis.
+   *
+   * @param threshold The deadzone for the Trigger.
+   */
+  Trigger* RightJoystickYThreshold(double threshold);
+
   /**
    * Get the right trigger (RT) axis value of the controller. Note that this
    * axis is bound to the range of [0, 1] as opposed to the usual [-1, 1].