Gamepad.h

 
#pragma once
 
#include <frc/XboxController.h>
#include <frc/filter/LinearFilter.h>
#include <units/angle.h>
 
namespace valor {
 
class Gamepad : public frc::XboxController {
   public:
    explicit Gamepad(int id);
 
    void setDeadbandX(double deadband);
 
    void setDeadbandY(double deadband);
 
    double leftStickX(int polynomial = 1);
    double leftStickXFiltered(int polynomial = 1);
 
    bool leftStickXActive(int polynomial = 1);
 
    double leftStickY(int polynomial = 1);
    double leftStickYFiltered(int polynomial = 1);
 
    bool leftStickYActive(int polynomial = 1);
 
    double rightStickX(int polynomial = 1);
    double rightStickXFiltered(int polynomial = 1);
 
    bool rightStickXActive(int polynomial = 1);
 
    double rightStickY(int polynomial = 1);
    double rightStickYFiltered(int polynomial = 1);
 
    bool rightStickYActive(int polynomial = 1);
 
    double rightTrigger();
 
    bool rightTriggerActive();
 
    double leftTrigger();
 
    bool leftTriggerActive();
 
    bool DPadUp();
 
    bool DPadDown();
 
    bool DPadLeft();
 
    bool DPadRight();
 
    bool getLeftStickButton();
 
    bool getRightStickButton();
 
    void setRumble(bool turnOn, double intensity = .25);
 
    void setJoystickFilterCacheSize(int cacheSize);
 
    units::angle::radian_t getLeftStickAngle();
    units::angle::radian_t getRightStickAngle();
 
   private:
    double deadband(double input, double deadband, int polynomial);
 
    double deadbandX;
    double deadbandY;
 
    double joystickFilterCacheSize = 5;
 
    frc::LinearFilter<double> leftJoystickX = frc::LinearFilter<double>::MovingAverage(joystickFilterCacheSize);
    frc::LinearFilter<double> rightJoystickX = frc::LinearFilter<double>::MovingAverage(joystickFilterCacheSize);
    frc::LinearFilter<double> leftJoystickY = frc::LinearFilter<double>::MovingAverage(joystickFilterCacheSize);
    frc::LinearFilter<double> rightJoystickY = frc::LinearFilter<double>::MovingAverage(joystickFilterCacheSize);
};
}  // namespace valor