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[#166] use suppliers
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@Vilok1
Vilok1 committed Apr 23, 2024
1 parent af3d734 commit 32a1ca8
Showing 1 changed file with 74 additions and 38 deletions.
112 changes: 74 additions & 38 deletions shuffleboard/LightningController.java
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Original file line number Diff line number Diff line change
@@ -1,5 +1,9 @@
package frc.thunder.shuffleboard;

import java.util.function.BooleanSupplier;
import java.util.function.DoubleSupplier;

import edu.wpi.first.wpilibj.DriverStation;
import edu.wpi.first.wpilibj.GenericHID.RumbleType;
import edu.wpi.first.wpilibj.XboxController;

Expand All @@ -9,13 +13,41 @@ public class LightningController{
public boolean portFound = true;
public XboxController realController;

// values from shuffleboard

public DoubleSupplier leftX;
public DoubleSupplier leftY;
public DoubleSupplier rightX;
public DoubleSupplier rightY;
public DoubleSupplier leftTriggerAxis;
public DoubleSupplier rightTriggerAxis;
public BooleanSupplier simController;
public BooleanSupplier leftBumper;
public BooleanSupplier rightBumper;
public BooleanSupplier leftStickButton;
public BooleanSupplier rightStickButton;
public BooleanSupplier AButton;
public BooleanSupplier BButton;
public BooleanSupplier XButton;
public BooleanSupplier YButton;
public BooleanSupplier backButton;
public BooleanSupplier startButton;
public DoubleSupplier POV;

public LightningController(String name, int port){
try {
realController = new XboxController(port);
} catch (Exception e){
portFound = false;
if (!DriverStation.isFMSAttached()){
portFound = false;
} else {
throw e;
}
} finally {
this.name = name;
if (!DriverStation.isFMSAttached()){
initValues();
}
}
}

Expand All @@ -29,17 +61,19 @@ public LightningController(int port){
}
}

/**
* @return if the controller is being simulated
*/
public boolean simController(){
return LightningShuffleboard.getBool(name, name + "simController", false);

return !portFound || simController.getAsBoolean();
}

/**
* @return the leftX value from the controller/shuffleboard
*/
public double getLeftX(){
if (simController()){
return LightningShuffleboard.getDouble(name, name + "LeftX", 0d);
return leftX.getAsDouble();
} else {
return realController.getLeftX();
}
Expand All @@ -50,7 +84,7 @@ public double getLeftX(){
*/
public double getLeftY(){
if (simController()){
return LightningShuffleboard.getDouble(name, name + "LeftY", 0d);
return leftY.getAsDouble();
} else {
return realController.getLeftY();
}
Expand All @@ -61,7 +95,7 @@ public double getLeftY(){
*/
public double getRightX(){
if (simController()){
return LightningShuffleboard.getDouble(name, name + "RightX", 0d);
return rightX.getAsDouble();
} else {
return realController.getRightX();
}
Expand All @@ -72,7 +106,7 @@ public double getRightX(){
*/
public double getRightY(){
if (simController()){
return LightningShuffleboard.getDouble(name, name + "RightY", 0d);
return rightY.getAsDouble();
} else {
return realController.getRightY();
}
Expand All @@ -83,7 +117,7 @@ public double getRightY(){
*/
public double getLeftTriggerAxis(){
if (simController()){
return LightningShuffleboard.getDouble(name, name + "LeftTriggerAxis", 0d);
return leftTriggerAxis.getAsDouble();
} else {
return realController.getLeftTriggerAxis();
}
Expand All @@ -94,7 +128,7 @@ public double getLeftTriggerAxis(){
*/
public double getRightTriggerAxis(){
if (simController()){
return LightningShuffleboard.getDouble(name, name + "RightTriggerAxis", 0d);
return rightTriggerAxis.getAsDouble();
} else {
return realController.getRightTriggerAxis();
}
Expand All @@ -105,7 +139,7 @@ public double getRightTriggerAxis(){
*/
public boolean getLeftBumper(){
if (simController()){
return LightningShuffleboard.getBool(name, name + "LeftBumper", false);
return leftBumper.getAsBoolean();
} else {
return realController.getLeftBumper();
}
Expand All @@ -116,7 +150,7 @@ public boolean getLeftBumper(){
*/
public boolean getRightBumper(){
if (simController()){
return LightningShuffleboard.getBool(name, name + "RightBumper", false);
return rightBumper.getAsBoolean();
} else {
return realController.getRightBumper();
}
Expand All @@ -127,7 +161,7 @@ public boolean getRightBumper(){
*/
public boolean getLeftStickButton(){
if (simController()){
return LightningShuffleboard.getBool(name, name + "LeftStickButton", false);
return leftStickButton.getAsBoolean();
} else {
return realController.getLeftStickButton();
}
Expand All @@ -138,7 +172,7 @@ public boolean getLeftStickButton(){
*/
public boolean getRightStickButton(){
if (simController()){
return LightningShuffleboard.getBool(name, name + "RightStickButton", false);
return rightStickButton.getAsBoolean();
} else {
return realController.getRightStickButton();
}
Expand All @@ -149,7 +183,7 @@ public boolean getRightStickButton(){
*/
public boolean getAButton(){
if (simController()){
return LightningShuffleboard.getBool(name, name + "AButton", false);
return AButton.getAsBoolean();
} else {
return realController.getAButton();
}
Expand All @@ -160,7 +194,7 @@ public boolean getAButton(){
*/
public boolean getBButton(){
if (simController()){
return LightningShuffleboard.getBool(name, name + "BButton", false);
return BButton.getAsBoolean();
} else {
return realController.getBButton();
}
Expand All @@ -171,7 +205,7 @@ public boolean getBButton(){
*/
public boolean getXButton(){
if (simController()){
return LightningShuffleboard.getBool(name, name + "XButton", false);
return XButton.getAsBoolean();
} else {
return realController.getXButton();
}
Expand All @@ -182,7 +216,7 @@ public boolean getXButton(){
*/
public boolean getYButton(){
if (simController()){
return LightningShuffleboard.getBool(name, name + "YButton", false);
return YButton.getAsBoolean();
} else {
return realController.getYButton();
}
Expand All @@ -193,7 +227,7 @@ public boolean getYButton(){
*/
public boolean getBackButton(){
if (simController()){
return LightningShuffleboard.getBool(name, name + "BackButton", false);
return backButton.getAsBoolean();
} else {
return realController.getBackButton();
}
Expand All @@ -204,7 +238,7 @@ public boolean getBackButton(){
*/
public boolean getStartButton(){
if (simController()){
return LightningShuffleboard.getBool(name, name + "StartButton", false);
return startButton.getAsBoolean();
} else {
return realController.getStartButton();
}
Expand All @@ -215,7 +249,7 @@ public boolean getStartButton(){
*/
public double getPOV(){
if (simController()){
return LightningShuffleboard.getDouble(name, name + "POV", 0d);
return POV.getAsDouble();
} else {
return realController.getPOV();
}
Expand Down Expand Up @@ -249,23 +283,25 @@ public XboxController getController(){
* Initializes all the values for the controller on shuffleboard
*/
public void initValues(){
LightningShuffleboard.getBool(name, name + "simController", false);
LightningShuffleboard.getDouble(name, name + "LeftX", 0d);
LightningShuffleboard.getDouble(name, name + "LeftY", 0d);
LightningShuffleboard.getDouble(name, name + "RightX", 0d);
LightningShuffleboard.getDouble(name, name + "RightY", 0d);
LightningShuffleboard.getDouble(name, name + "LeftTriggerAxis", 0d);
LightningShuffleboard.getDouble(name, name + "RightTriggerAxis", 0d);
LightningShuffleboard.getBool(name, name + "LeftBumper", false);
LightningShuffleboard.getBool(name, name + "RightBumper", false);
LightningShuffleboard.getBool(name, name + "LeftStickButton", false);
LightningShuffleboard.getBool(name, name + "RightStickButton", false);
LightningShuffleboard.getBool(name, name + "AButton", false);
LightningShuffleboard.getBool(name, name + "BButton", false);
LightningShuffleboard.getBool(name, name + "XButton", false);
LightningShuffleboard.getBool(name, name + "YButton", false);
LightningShuffleboard.getBool(name, name + "BackButton", false);
LightningShuffleboard.getBool(name, name + "StartButton", false);
LightningShuffleboard.getDouble(name, name + "POV", 0d);
simController = () -> LightningShuffleboard.getBool(name, name + "simController", false);
if (simController()){
leftX = () -> LightningShuffleboard.getDouble(name, name + "LeftX", 0d);
leftY = () -> LightningShuffleboard.getDouble(name, name + "LeftY", 0d);
rightX = () -> LightningShuffleboard.getDouble(name, name + "RightX", 0d);
rightY = () -> LightningShuffleboard.getDouble(name, name + "RightY", 0d);
leftTriggerAxis = () -> LightningShuffleboard.getDouble(name, name + "LeftTriggerAxis", 0d);
rightTriggerAxis = () -> LightningShuffleboard.getDouble(name, name + "RightTriggerAxis", 0d);
leftBumper = () -> LightningShuffleboard.getBool(name, name + "LeftBumper", false);
rightBumper = () -> LightningShuffleboard.getBool(name, name + "RightBumper", false);
leftStickButton = () -> LightningShuffleboard.getBool(name, name + "LeftStickButton", false);
rightStickButton = () -> LightningShuffleboard.getBool(name, name + "RightStickButton", false);
AButton = () -> LightningShuffleboard.getBool(name, name + "AButton", false);
BButton = () -> LightningShuffleboard.getBool(name, name + "BButton", false);
XButton = () -> LightningShuffleboard.getBool(name, name + "XButton", false);
YButton = () -> LightningShuffleboard.getBool(name, name + "YButton", false);
backButton = () -> LightningShuffleboard.getBool(name, name + "BackButton", false);
startButton = () -> LightningShuffleboard.getBool(name, name + "StartButton", false);
POV = () -> LightningShuffleboard.getDouble(name, name + "POV", 0d);
}
}
}

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