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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 .controller import XboxController
from .pigeon import Pigeon
__all__ = [
# "DriveTrain",
"Pigeon",
"XboxController",
]

36
components/controller.py
View File

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