xbox_controller.h

Go to the documentation of this file.

 
 
#pragma once
 
#include <frc/GenericHID.h>
 
#include <array>
 
#include "argos_lib/general/debounce_settings.h"
#include "vibration.h"
 
namespace argos_lib {
 
  class XboxController : public frc::GenericHID {
   public:
    enum class JoystickHand { kLeftHand, kRightHand };
 
    enum class Button {
      kA = 1,
      kB = 2,
      kX = 3,
      kY = 4,
      kBumperLeft = 5,
      kBumperRight = 6,
      kBack = 7,
      kStart = 8,
      kStickLeft = 9,
      kStickRight = 10,
      kLeftTrigger = 11,   
      kRightTrigger = 12,  
      kUp = 13,            
      kRight = 14,         
      kDown = 15,          
      kLeft = 16,          
      COUNT
    };
 
    struct UpdateStatus {
      bool pressed = false;          
      bool released = false;         
      bool debouncePress = false;    
      bool debounceRelease = false;  
      bool rawActive = false;        
      bool debounceActive = false;   
    };
 
    enum class Axis { kLeftX = 0, kLeftY = 1, kLeftTrigger = 2, kRightTrigger = 3, kRightX = 4, kRightY = 5, COUNT };
 
    XboxController() = delete;
    explicit XboxController(int port);
 
    void SetButtonDebounce(Button targetButton, DebounceSettings newSettings);
 
    void SwapSettings(XboxController& other);
 
    [[nodiscard]] double GetX(JoystickHand hand) const;
    [[nodiscard]] double GetY(JoystickHand hand) const;
    [[nodiscard]] double GetTriggerAxis(JoystickHand hand) const;
 
    [[nodiscard]] bool GetDebouncedButton(Button buttonIdx);
    [[nodiscard]] bool GetDebouncedButtonPressed(Button buttonIdx);
    [[nodiscard]] bool GetDebouncedButtonReleased(Button buttonIdx);
 
    [[nodiscard]] bool GetDebouncedButton(std::initializer_list<Button> buttonCombo);
    [[nodiscard]] bool GetDebouncedButtonPressed(std::initializer_list<Button> buttonCombo);
    [[nodiscard]] bool GetDebouncedButtonReleased(std::initializer_list<Button> buttonCombo);
 
    [[nodiscard]] bool GetRawButton(Button buttonIdx);
    [[nodiscard]] bool GetRawButtonPressed(Button buttonIdx);
    [[nodiscard]] bool GetRawButtonReleased(Button buttonIdx);
 
    [[nodiscard]] bool GetRawButton(std::initializer_list<Button> buttonCombo);
    [[nodiscard]] bool GetRawButtonPressed(std::initializer_list<Button> buttonCombo);
    [[nodiscard]] bool GetRawButtonReleased(std::initializer_list<Button> buttonCombo);
 
    VibrationModel GetVibration() const;
 
    void SetVibration(VibrationModel newVibrationModel);
 
    void UpdateVibration();
 
    UpdateStatus UpdateButton(Button buttonIdx);
 
   private:
    struct DPadButtons {
      bool up = false;     
      bool right = false;  
      bool down = false;   
      bool left = false;   
    };
 
    DPadButtons GetPOVButtons();
 
    constexpr static double analogTriggerThresh = 0.5;  
 
    std::array<DebounceSettings, static_cast<int>(Button::COUNT)> m_buttonDebounceSettings;
    std::array<bool, static_cast<int>(Button::COUNT)> m_buttonDebounceStatus;
    std::array<bool, static_cast<int>(Button::COUNT)> m_rawButtonStatus;
    std::array<std::chrono::time_point<std::chrono::steady_clock>, static_cast<int>(Button::COUNT)>
        m_buttonDebounceTransitionTime;  
 
    VibrationModel m_vibrationModel;  
  };
 
}  // namespace argos_lib