Wrapper class for XBox gamepads. More...

#include <Gamepad.h>

Inheritance diagram for valor::Gamepad:

Public Member Functions
	Gamepad (int id)
	Construct a new Valor Gamepad object.

void	setDeadbandX (double deadband)
	Set the X deadband value.

void	setDeadbandY (double deadband)
	Set the Y deadband value.

double	leftStickX (int polynomial=1)
	Obtain the X value from the gamepad's left thumb stick.

double	leftStickXFiltered (int polynomial=1)
	Obtain the X value from the gamepad's left thumb stick, with filtering applied.

bool	leftStickXActive (int polynomial=1)
	Is the gamepad's left X thumb stick active?

double	leftStickY (int polynomial=1)
	Obtain the Y value from the gamepad's left thumb stick.

double	leftStickYFiltered (int polynomial=1)
	Obtain the Y value from the gamepad's left thumb stick, with filtering applied.

bool	leftStickYActive (int polynomial=1)
	Is the gamepad's left Y thumb stick active?

double	rightStickX (int polynomial=1)
	Obtain the X value from the gamepad's right thumb stick.

double	rightStickXFiltered (int polynomial=1)
	Obtain the X value from the gamepad's right thumb stick, with filtering applied.

bool	rightStickXActive (int polynomial=1)
	Is the gamepad's right X thumb stick active?

double	rightStickY (int polynomial=1)
	Obtain the Y value from the gamepad's right thumb stick.

double	rightStickYFiltered (int polynomial=1)
	Obtain the Y value from the gamepad's right thumb stick, with filtering applied.

bool	rightStickYActive (int polynomial=1)
	Is the gamepad's right Y thumb stick active?

double	rightTrigger ()
	Obtain the gamepad's right trigger value.

bool	rightTriggerActive ()
	Is the gamepad's right trigger active?

double	leftTrigger ()
	Obtain the gamepad's left trigger value.

bool	leftTriggerActive ()
	Is the gamepad's left trigger active?

bool	DPadUp ()
	Is the gamepad's D-pad up button pressed?

bool	DPadDown ()
	Is the gamepad's D-pad down button pressed?

bool	DPadLeft ()
	Is the gamepad's D-pad left button pressed?

bool	DPadRight ()
	Is the gamepad's D-pad right button pressed?

bool	getLeftStickButton ()
	Get the state of the left stick button.

bool	getRightStickButton ()
	Get the state of the right stick button.

void	setRumble (bool turnOn, double intensity=.25)
	Sets the rumble for the gamepad.

void	setJoystickFilterCacheSize (int cacheSize)
	Sets the cache size for the joystick filters.

units::angle::radian_t	getLeftStickAngle ()
	Gets the angle of the left joystick in a field-relative perspective.

units::angle::radian_t	getRightStickAngle ()
	Gets the angle of the right joystick in a field-relative perspective.

Detailed Description

Wrapper class for XBox gamepads.

Used to enhance the default methods in the FRC XboxController class. Additional methods are needed to make gamepad utilization easier and cleaner in subsystem classes.

Focus on providing more resolution and functions for X/Y thumb-pads.

Constructor & Destructor Documentation

◆ Gamepad()

valor::Gamepad::Gamepad ( int id )

explicit

Construct a new Valor Gamepad object.

Parameters

id	USB ID that shows up on the driver station. Between 0 and 3

Member Function Documentation

◆ DPadDown()

bool valor::Gamepad::DPadDown ( )

Is the gamepad's D-pad down button pressed?

Returns: true Gamepad's down d-pad button is pressed; true Gamepad's down d-pad button is not pressed

◆ DPadLeft()

bool valor::Gamepad::DPadLeft ( )

Is the gamepad's D-pad left button pressed?

Returns: true Gamepad's left d-pad button is pressed; true Gamepad's left d-pad button is not pressed

◆ DPadRight()

bool valor::Gamepad::DPadRight ( )

Is the gamepad's D-pad right button pressed?

Returns: true Gamepad's right d-pad button is pressed; true Gamepad's right d-pad button is not pressed

◆ DPadUp()

bool valor::Gamepad::DPadUp ( )

Is the gamepad's D-pad up button pressed?

Returns: true Gamepad's up d-pad button is pressed; true Gamepad's up d-pad button is not pressed

◆ getLeftStickAngle()

units::angle::radian_t valor::Gamepad::getLeftStickAngle ( )

Gets the angle of the left joystick in a field-relative perspective.

The angle is calculated using the filtered X and Y values of the left stick. 0 radians points away from the driver station (forward), and the angle increases counter-clockwise.

Returns: units::angle::radian_t The angle of the left joystick in radians.

◆ getLeftStickButton()

bool valor::Gamepad::getLeftStickButton ( )

Get the state of the left stick button.

Returns: true if the left stick button is pressed.; false if the left stick button is not pressed.

◆ getRightStickAngle()

units::angle::radian_t valor::Gamepad::getRightStickAngle ( )

Gets the angle of the right joystick in a field-relative perspective.

The angle is calculated using the filtered X and Y values of the right stick. 0 radians points away from the driver station (forward), and the angle increases counter-clockwise.

Returns: units::angle::radian_t The angle of the right joystick in radians.

◆ getRightStickButton()

bool valor::Gamepad::getRightStickButton ( )

Get the state of the right stick button.

Returns: true if the right stick button is pressed.; false if the right stick button is not pressed.

◆ leftStickX()

double valor::Gamepad::leftStickX ( int polynomial = 1 )

Obtain the X value from the gamepad's left thumb stick.

First, the gamepad's raw X value is compared against the set deadband. See the setDeadbandX function. If the input is inside the deadband, the output is set to 0. Otherwise, the gamepad's raw X value is raised to the power of the input polynomial. For example, if polynomial parameter is 2, then the input is squared (x^2).

Parameters

polynomial What to raise the input to the power of

Returns: double X value of the gamepad's left thumb stick. Between -1 and 1

◆ leftStickXActive()

bool valor::Gamepad::leftStickXActive ( int polynomial = 1 )

Is the gamepad's left X thumb stick active?

Parameters

polynomial The exponent to apply to the gamepad's stick value

Returns: true Gamepad's left X thumb stick is outside of deadband; false Gamepad's left X thumb stick is at rest and within deadband

◆ leftStickXFiltered()

double valor::Gamepad::leftStickXFiltered ( int polynomial = 1 )

Obtain the X value from the gamepad's left thumb stick, with filtering applied.

This method first calls leftStickX() to get the raw (deadband-applied, polynomial-adjusted) value, then applies a linear filter (moving average) to smooth out the input.

Parameters

polynomial What to raise the input to the power of. Defaults to 1.

Returns: double Filtered X value of the gamepad's left thumb stick. Between -1 and 1.

◆ leftStickY()

double valor::Gamepad::leftStickY ( int polynomial = 1 )

Obtain the Y value from the gamepad's left thumb stick.

First, the gamepad's raw Y value is compared against the set deadband. See the setDeadbandY function. If the input is inside the deadband, the output is set to 0. Otherwise, the gamepad's raw Y value is raised to the power of the input polynomial. For example, if polynomial parameter is 2, then the input is squared (x^2).

Parameters

polynomial The exponent to apply to the gamepad's stick value

Returns: double Y value of the gamepad's left thumb stick. Between -1 and 1

◆ leftStickYActive()

bool valor::Gamepad::leftStickYActive ( int polynomial = 1 )

Is the gamepad's left Y thumb stick active?

Parameters

polynomial The exponent to apply to the gamepad's stick value

Returns: true Gamepad's left Y thumb stick is outside of deadband; false Gamepad's left Y thumb stick is at rest and within deadband

◆ leftStickYFiltered()

double valor::Gamepad::leftStickYFiltered ( int polynomial = 1 )

Obtain the Y value from the gamepad's left thumb stick, with filtering applied.

This method first calls leftStickY() to get the raw (deadband-applied, polynomial-adjusted) value, then applies a linear filter (moving average) to smooth out the input.

Parameters

polynomial The exponent to apply to the gamepad's stick value. Defaults to 1.

Returns: double Filtered Y value of the gamepad's left thumb stick. Between -1 and 1.

◆ leftTrigger()

double valor::Gamepad::leftTrigger ( )

Obtain the gamepad's left trigger value.

Returns: double Gamepad's left trigger value. Between 0 and 1

◆ leftTriggerActive()

bool valor::Gamepad::leftTriggerActive ( )

Is the gamepad's left trigger active?

Returns: true Gamepad's left trigger is pressed to some degree; false Gamepad's left trigger is at rest

◆ rightStickX()

double valor::Gamepad::rightStickX ( int polynomial = 1 )

Obtain the X value from the gamepad's right thumb stick.

First, the gamepad's raw X value is compared against the set deadband. See the setDeadbandX function. If the input is inside the deadband, the output is set to 0. Otherwise, the gamepad's raw X value is raised to the power of the input polynomial. For example, if polynomial parameter is 2, then the input is squared (x^2).

Parameters

polynomial What to raise the input to the power of

Returns: double X value of the gamepad's right thumb stick. Between -1 and 1

◆ rightStickXActive()

bool valor::Gamepad::rightStickXActive ( int polynomial = 1 )

Is the gamepad's right X thumb stick active?

Parameters

polynomial The exponent to apply to the gamepad's stick value

Returns: true Gamepad's right X thumb stick is outside of deadband; false Gamepad's right X thumb stick is at rest and within deadband

◆ rightStickXFiltered()

double valor::Gamepad::rightStickXFiltered ( int polynomial = 1 )

Obtain the X value from the gamepad's right thumb stick, with filtering applied.

This method first calls rightStickX() to get the raw (deadband-applied, polynomial-adjusted) value, then applies a linear filter (moving average) to smooth out the input.

Parameters

polynomial What to raise the input to the power of. Defaults to 1.

Returns: double Filtered X value of the gamepad's right thumb stick. Between -1 and 1.

◆ rightStickY()

double valor::Gamepad::rightStickY ( int polynomial = 1 )

Obtain the Y value from the gamepad's right thumb stick.

First, the gamepad's raw Y value is compared against the set deadband. See the setDeadbandY function. If the input is inside the deadband, the output is set to 0. Otherwise, the gamepad's raw Y value is raised to the power of the input polynomial. For example, if polynomial parameter is 2, then the input is squared (x^2).

Parameters

polynomial The exponent to apply to the gamepad's stick value

Returns: double Y value of the gamepad's right thumb stick. Between -1 and 1

◆ rightStickYActive()

bool valor::Gamepad::rightStickYActive ( int polynomial = 1 )

Is the gamepad's right Y thumb stick active?

Parameters

polynomial The exponent to apply to the gamepad's stick value

Returns: true Gamepad's right Y thumb stick is outside of deadband; false Gamepad's right Y thumb stick is at rest and within deadband

◆ rightStickYFiltered()

double valor::Gamepad::rightStickYFiltered ( int polynomial = 1 )

Obtain the Y value from the gamepad's right thumb stick, with filtering applied.

This method first calls rightStickY() to get the raw (deadband-applied, polynomial-adjusted) value, then applies a linear filter (moving average) to smooth out the input.

Parameters

polynomial The exponent to apply to the gamepad's stick value. Defaults to 1.

Returns: double Filtered Y value of the gamepad's right thumb stick. Between -1 and 1.

◆ rightTrigger()

double valor::Gamepad::rightTrigger ( )

Obtain the gamepad's right trigger value.

Returns: double Gamepad's right trigger value. Between 0 and 1

◆ rightTriggerActive()

bool valor::Gamepad::rightTriggerActive ( )

Is the gamepad's right trigger active?

Returns: true Gamepad's right trigger is pressed to some degree; false Gamepad's right trigger is at rest

◆ setDeadbandX()

void valor::Gamepad::setDeadbandX ( double deadband )

Set the X deadband value.

Deadband is the range of values where where the values can be varied without changing the output response.

For example, if the deadband is 0.1, then any values between -0.1 and 0.1 will all yield an output response of 0.

Parameters

deadband Deadband value for the X direction of the gamepad. Between 0 and 1

◆ setDeadbandY()

void valor::Gamepad::setDeadbandY ( double deadband )

Set the Y deadband value.

Deadband is the range of values where where the values can be varied without changing the output response.

For example, if the deadband is 0.1, then any values between -0.1 and 0.1 will all yield an output response of 0.

Parameters

deadband Deadband value for the Y direction of the gamepad. Between 0 and 1

◆ setJoystickFilterCacheSize()

void valor::Gamepad::setJoystickFilterCacheSize ( int cacheSize )

Sets the cache size for the joystick filters.

This determines the number of samples used in the moving average filter for joystick inputs. A larger cache size results in smoother, but more delayed, input.

Parameters

cacheSize The size of the cache for the moving average filter.

◆ setRumble()

void valor::Gamepad::setRumble	(	bool	turnOn,
		double	intensity = .25 )

Sets the rumble for the gamepad.

Parameters

turnOn	Whether to turn rumble on or off.
intensity	The intensity of the rumble, between 0.0 and 1.0. Defaults to 0.25.

The documentation for this class was generated from the following file:

src/main/include/valkyrie/Gamepad.h

Public Member Functions

Detailed Description

Constructor & Destructor Documentation

◆ Gamepad()

Member Function Documentation

◆ DPadDown()

◆ DPadLeft()

◆ DPadRight()

◆ DPadUp()

◆ getLeftStickAngle()

◆ getLeftStickButton()

◆ getRightStickAngle()

◆ getRightStickButton()

◆ leftStickX()

◆ leftStickXActive()

◆ leftStickXFiltered()

◆ leftStickY()

◆ leftStickYActive()

◆ leftStickYFiltered()

◆ leftTrigger()

◆ leftTriggerActive()

◆ rightStickX()

◆ rightStickXActive()

◆ rightStickXFiltered()

◆ rightStickY()

◆ rightStickYActive()

◆ rightStickYFiltered()

◆ rightTrigger()

◆ rightTriggerActive()

◆ setDeadbandX()

◆ setDeadbandY()

◆ setJoystickFilterCacheSize()

◆ setRumble()