LogitechJoystick.h

 
#pragma once
 
#include <frc2/command/button/CommandGenericHID.h>
#include <frc2/command/button/Trigger.h>
 
namespace rmb {
 
class LogitechJoystick : public frc2::CommandGenericHID {
public:
  struct Axes {
    constexpr static int X = 1;
    constexpr static int Y = 0;
    constexpr static int twist = 2;
    constexpr static int throttle = 3;
  };
 
  LogitechJoystick(int channel, double deadZone = 0.0,
                   bool squareOutputs = false)
      : frc2::CommandGenericHID(channel), deadZone(deadZone),
        squareOutputs(squareOutputs){};
 
  double GetX() const {
    double raw = -GetRawAxis(Axes::X);
    if (std::abs(raw) < deadZone) {
      return 0.0;
    }
    return squareOutputs ? std::copysign(raw * raw, raw) : raw;
  }
 
  frc2::Trigger XLessThan(double threshold) const {
    return AxisLessThan(Axes::X, threshold);
  }
  frc2::Trigger XMoreThan(double threshold) const {
    return AxisGreaterThan(Axes::X, threshold);
  }
 
  double GetY() const {
    double raw = GetRawAxis(Axes::Y);
    if (std::abs(raw) < deadZone) {
      return 0.0;
    }
    return squareOutputs ? std::copysign(raw * raw, raw) : raw;
  }
 
  frc2::Trigger YLessThan(double threshold) const {
    return AxisLessThan(Axes::Y, threshold);
  }
 
  frc2::Trigger YMoreThan(double threshold) const {
    return AxisGreaterThan(Axes::Y, threshold);
  }
 
  double GetTwist() const {
    double raw = GetRawAxis(Axes::twist);
    if (std::abs(raw) < deadZone) {
      return 0.0;
    }
    return squareOutputs ? std::copysign(raw * raw, raw) : raw;
  }
 
  frc2::Trigger TwistLessThan(double threshold) const {
    return AxisLessThan(Axes::twist, threshold);
  }
  frc2::Trigger TwistMoreThan(double threshold) const {
    return AxisGreaterThan(Axes::twist, threshold);
  }
 
  double GetThrottle() const {
    double raw = (-GetRawAxis(Axes::throttle) + 1.0) / 2.0;
    return raw;
  }
 
  frc2::Trigger ThrottleLessThan(double threshold) const {
    return AxisLessThan(Axes::throttle, threshold);
  }
  frc2::Trigger ThrottleMoreThan(double threshold) const {
    return AxisGreaterThan(Axes::throttle, threshold);
  }
 
  bool GetTrigger() const { return GetRawButton(1); }
  bool GetTriggerPressed() { return GetRawButtonPressed(1); }
  bool GetTriggerReleased() { return GetRawButtonReleased(1); }
  frc2::Trigger Trigger() const { return Button(1); }
 
private:
  double deadZone;
  bool squareOutputs;
};
} // namespace rmb