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Updated frclib.

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Updated trclib.
Fixed Gamepad support to conform to library changes.
This commit is contained in:
Titan Robotics Club
2024-08-22 01:28:16 -07:00
parent 98b0eb8008
commit 61d381e329
5 changed files with 103 additions and 114 deletions
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111
TeamCode/src/main/java/teamcode/FtcTest.java
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@ -42,7 +42,6 @@ import trclib.command.CmdDriveMotorsTest;
import trclib.command.CmdPidDrive;
import trclib.command.CmdTimedDrive;
import trclib.dataprocessor.TrcUtil;
import trclib.driverio.TrcGameController;
import trclib.pathdrive.TrcPose2D;
import trclib.robotcore.TrcDbgTrace;
import trclib.robotcore.TrcPidController;
@ -527,24 +526,23 @@ public class FtcTest extends FtcTeleOp
//
/**
* This method is called when a driver gamepad button event occurs.
* This method is called when driver gamepad button event is detected.
*
* @param gamepad specifies the game controller object that generated the event.
* @param button specifies the button ID that generates the event
* @param button specifies the button that generates the event.
* @param pressed specifies true if the button is pressed, false otherwise.
*/
@Override
public void driverButtonEvent(TrcGameController gamepad, int button, boolean pressed)
public void driverButtonEvent(FtcGamepad.ButtonType button, boolean pressed)
{
boolean passToTeleOp = true;
//
// In addition to or instead of the gamepad controls handled by FtcTeleOp, we can add to or override the
// FtcTeleOp gamepad actions.
//
robot.dashboard.displayPrintf(8, "%s: %04x->%s", gamepad, button, pressed ? "Pressed" : "Released");
robot.dashboard.displayPrintf(8, "Driver: %s=%s", button, pressed? "Pressed": "Released");
switch (button)
{
case FtcGamepad.GAMEPAD_A:
case A:
if (testChoices.test == Test.CALIBRATE_SWERVE_STEERING)
{
if (pressed && robot.robotDrive != null && robot.robotDrive instanceof FtcSwerveDrive)
@ -578,7 +576,7 @@ public class FtcTest extends FtcTeleOp
}
break;
case FtcGamepad.GAMEPAD_B:
case B:
if (testChoices.test == Test.TUNE_COLORBLOB_VISION &&
robot.vision != null && robot.vision.rawColorBlobVision != null)
{
@ -601,7 +599,7 @@ public class FtcTest extends FtcTeleOp
}
break;
case FtcGamepad.GAMEPAD_X:
case X:
if (testChoices.test == Test.TUNE_COLORBLOB_VISION &&
robot.vision != null && robot.vision.rawColorBlobVision != null)
{
@ -618,7 +616,7 @@ public class FtcTest extends FtcTeleOp
}
break;
case FtcGamepad.GAMEPAD_Y:
case Y:
if (testChoices.test == Test.TUNE_COLORBLOB_VISION &&
robot.vision != null && robot.vision.rawColorBlobVision != null)
{
@ -631,7 +629,7 @@ public class FtcTest extends FtcTeleOp
}
break;
case FtcGamepad.GAMEPAD_LBUMPER:
case LeftBumper:
if (testChoices.test == Test.VISION_TEST && robot.vision != null)
{
if (pressed)
@ -643,7 +641,7 @@ public class FtcTest extends FtcTeleOp
}
break;
case FtcGamepad.GAMEPAD_RBUMPER:
case RightBumper:
if (testChoices.test == Test.VISION_TEST && robot.vision != null)
{
if (pressed)
@ -655,7 +653,7 @@ public class FtcTest extends FtcTeleOp
}
break;
case FtcGamepad.GAMEPAD_DPAD_UP:
case DpadUp:
if (testChoices.test == Test.SUBSYSTEMS_TEST)
{
// If we are moving swerve steering, make sure TeleOp doesn't interfere.
@ -682,7 +680,7 @@ public class FtcTest extends FtcTeleOp
}
break;
case FtcGamepad.GAMEPAD_DPAD_DOWN:
case DpadDown:
if (testChoices.test == Test.SUBSYSTEMS_TEST)
{
// If we are moving swerve steering, make sure TeleOp doesn't interfere.
@ -709,7 +707,7 @@ public class FtcTest extends FtcTeleOp
}
break;
case FtcGamepad.GAMEPAD_DPAD_LEFT:
case DpadLeft:
if (testChoices.test == Test.SUBSYSTEMS_TEST)
{
// If we are moving swerve steering, make sure TeleOp doesn't interfere.
@ -733,7 +731,7 @@ public class FtcTest extends FtcTeleOp
}
break;
case FtcGamepad.GAMEPAD_DPAD_RIGHT:
case DpadRight:
if (testChoices.test == Test.SUBSYSTEMS_TEST)
{
// If we are moving swerve steering, make sure TeleOp doesn't interfere.
@ -756,42 +754,11 @@ public class FtcTest extends FtcTeleOp
passToTeleOp = false;
}
break;
}
//
// If the control was not processed by this method, pass it back to TeleOp.
//
if (passToTeleOp)
{
super.driverButtonEvent(gamepad, button, pressed);
}
} //driverButtonEvent
/**
* This method is called when an operator gamepad button event occurs.
*
* @param gamepad specifies the game controller object that generated the event.
* @param button specifies the button ID that generates the event
* @param pressed specifies true if the button is pressed, false otherwise.
*/
@Override
public void operatorButtonEvent(TrcGameController gamepad, int button, boolean pressed)
{
boolean passToTeleOp = true;
//
// In addition to or instead of the gamepad controls handled by FtcTeleOp, we can add to or override the
// FtcTeleOp gamepad actions.
//
robot.dashboard.displayPrintf(8, "%s: %04x->%s", gamepad, button, pressed ? "Pressed" : "Released");
switch (button)
{
case FtcGamepad.GAMEPAD_A:
case FtcGamepad.GAMEPAD_B:
case FtcGamepad.GAMEPAD_X:
case FtcGamepad.GAMEPAD_Y:
case FtcGamepad.GAMEPAD_DPAD_UP:
case FtcGamepad.GAMEPAD_DPAD_DOWN:
case FtcGamepad.GAMEPAD_DPAD_LEFT:
case FtcGamepad.GAMEPAD_DPAD_RIGHT:
case Back:
break;
case Start:
break;
}
//
@ -799,7 +766,47 @@ public class FtcTest extends FtcTeleOp
//
if (passToTeleOp)
{
super.operatorButtonEvent(gamepad, button, pressed);
super.driverButtonEvent(button, pressed);
}
} //driverButtonEvent
/**
* This method is called when operator gamepad button event is detected.
*
* @param button specifies the button that generates the event.
* @param pressed specifies true if the button is pressed, false otherwise.
*/
@Override
public void operatorButtonEvent(FtcGamepad.ButtonType button, boolean pressed)
{
boolean passToTeleOp = true;
//
// In addition to or instead of the gamepad controls handled by FtcTeleOp, we can add to or override the
// FtcTeleOp gamepad actions.
//
robot.dashboard.displayPrintf(8, "Operator: %s=%s", button, pressed? "Pressed": "Released");
switch (button)
{
case A:
case B:
case X:
case Y:
case LeftBumper:
case RightBumper:
case DpadUp:
case DpadDown:
case DpadLeft:
case DpadRight:
case Back:
case Start:
break;
}
//
// If the control was not processed by this method, pass it back to TeleOp.
//
if (passToTeleOp)
{
super.operatorButtonEvent(button, pressed);
}
} //operatorButtonEvent