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Castor2026
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Updates to components

This commit is contained in:
Mike Silva 2026-01-24 21:57:11 -05:00
parent 9ff8c70e2c
commit 22841bd370
2 changed files with 20 additions and 19 deletions
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3
components/__init__.py
View File

@ -1,7 +1,8 @@
# from .drivetrain import DriveTrain # from .drivetrain import DriveTrain
from .controller import XboxController from .controller import XboxController
from .pigeon import Pigeon
__all__ = [ __all__ = [
# "DriveTrain", "Pigeon",
"XboxController", "XboxController",
] ]

36
components/controller.py
View File

@ -2,10 +2,10 @@ import wpilib
class PlayStationController: class PlayStationController:
CORRECT_FOR_DEADBAND: bool correct_for_deadband: bool
DEADBAND: float deadband: float
PORT: int port: int
VERSION: int = 4 version: int = 4
def execute(self) -> None: def execute(self) -> None:
pass pass
@ -15,10 +15,10 @@ class PlayStationController:
Setup the PlayStation controller. Setup the PlayStation controller.
This method is called once when the robot is initialized. This method is called once when the robot is initialized.
""" """
if self.VERSION == 5: if self.version == 5:
self.this_controller = wpilib.PS5Controller(self.PORT) self.this_controller = wpilib.PS5Controller(self.port)
else: else:
self.this_controller = wpilib.PS4Controller(self.PORT) self.this_controller = wpilib.PS4Controller(self.port)
self.button_was_pressed = { self.button_was_pressed = {
"Cross": False, "Cross": False,
@ -84,11 +84,11 @@ class PlayStationController:
:param raw_value: The raw joystick value. :param raw_value: The raw joystick value.
:return: The corrected joystick value. :return: The corrected joystick value.
""" """
if self.CORRECT_FOR_DEADBAND: if self.correct_for_deadband:
if abs(raw_value) < self.DEADBAND: if abs(raw_value) < self.deadband:
return 0.0 return 0.0
return (raw_value / abs(raw_value)) * ( return (raw_value / abs(raw_value)) * (
(abs(raw_value) - self.DEADBAND) / (1 - self.DEADBAND) (abs(raw_value) - self.deadband) / (1 - self.deadband)
) )
return raw_value return raw_value
@ -341,7 +341,7 @@ class PlayStationController:
:return: True if the Share button is pressed, False otherwise. :return: True if the Share button is pressed, False otherwise.
""" """
if self.VERSION == 4: if self.version == 4:
return self._button_pressed("Share", self.this_controller.getShareButton()) return self._button_pressed("Share", self.this_controller.getShareButton())
else: else:
return self._button_pressed("Share", False) return self._button_pressed("Share", False)
@ -356,9 +356,9 @@ class PlayStationController:
class XboxController: class XboxController:
CORRECT_FOR_DEADBAND: bool correct_for_deadband: bool
DEADBAND: float deadband: float
PORT: int port: int
def execute(self) -> None: def execute(self) -> None:
pass pass
@ -368,7 +368,7 @@ class XboxController:
Setup the Xbox controller. Setup the Xbox controller.
This method is called once when the robot is initialized. This method is called once when the robot is initialized.
""" """
self.this_controller = wpilib.XboxController(self.PORT) self.this_controller = wpilib.XboxController(self.port)
self.button_was_pressed = { self.button_was_pressed = {
"A": False, "A": False,
"B": False, "B": False,
@ -433,11 +433,11 @@ class XboxController:
:param raw_value: The raw joystick value. :param raw_value: The raw joystick value.
:return: The corrected joystick value. :return: The corrected joystick value.
""" """
if self.CORRECT_FOR_DEADBAND: if self.correct_for_deadband:
if abs(raw_value) < self.DEADBAND: if abs(raw_value) < self.deadband:
return 0.0 return 0.0
return (raw_value / abs(raw_value)) * ( return (raw_value / abs(raw_value)) * (
(abs(raw_value) - self.DEADBAND) / (1 - self.DEADBAND) (abs(raw_value) - self.deadband) / (1 - self.deadband)
) )
return raw_value return raw_value