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Merge pull request #95 from flamingchickens1540/test-bot
Add SimpleControllersTester, minor changes to AbstractTester
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lib/src/main/java/org/team1540/rooster/testers/SimpleControllersTester.java
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| package org.team1540.rooster.testers; | ||
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| import com.ctre.phoenix.motorcontrol.ControlMode; | ||
| import com.ctre.phoenix.motorcontrol.IMotorController; | ||
| import edu.wpi.first.wpilibj.Joystick; | ||
| import edu.wpi.first.wpilibj.Sendable; | ||
| import edu.wpi.first.wpilibj.buttons.JoystickButton; | ||
| import edu.wpi.first.wpilibj.command.Command; | ||
| import edu.wpi.first.wpilibj.smartdashboard.SendableBuilder; | ||
| import edu.wpi.first.wpilibj.smartdashboard.SendableChooser; | ||
| import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; | ||
| import java.util.NavigableMap; | ||
| import java.util.Optional; | ||
| import java.util.TreeMap; | ||
| import org.team1540.rooster.util.SimpleCommand; | ||
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| /** | ||
| * A simple command for testing a series of {@link IMotorController IMotorControllers}. Simply | ||
| * add the controllers, specify control bindings or use the defaults, and you're ready! Select | ||
| * the motor in the SmartDashboard or move next/previous with buttons and control the percent | ||
| * output of the motor with a joystick axis. | ||
| */ | ||
| public class SimpleControllersTester extends Command implements Sendable { | ||
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| private static final int DEFAULT_JOYSTICK_ID = 0; | ||
| private static final int DEFAULT_AXIS_ID = 5; | ||
| private static final int DEFAULT_NEXT_BUTTON_ID = 1; | ||
| private static final int DEFAULT_PREVIOUS_BUTTON_ID = 2; | ||
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| private Joystick joystick; | ||
| private int axisId; | ||
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| // Is the retrieval time poor, despite the need for a lot of retrievals? Yes. Are we ignoring that | ||
| // because the size of the map is small? Also yes. | ||
| private NavigableMap<Integer, IMotorController> controllers = new TreeMap<>(); | ||
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| // Do not manually update this value. Instead, call setCurrentController() | ||
| private IMotorController currentController; | ||
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| private SendableChooser<Integer> controllerChooser = new SendableChooser<>(); | ||
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| /** | ||
| * Construct a new instance with the default bindings on {@link Joystick} 0. On an Xbox | ||
| * controller, the right thumbstick y-axis controls {@link ControlMode}.PERCENT_OUTPUT, the A | ||
| * button goes to the next {@link IMotorController}, and the B button goes to the previous | ||
| * {@link IMotorController}. | ||
| * | ||
| * @param controllers The {@link IMotorController IMotorControllers} to test. | ||
| */ | ||
| public SimpleControllersTester(IMotorController... controllers) { | ||
| this(new Joystick(DEFAULT_JOYSTICK_ID), DEFAULT_AXIS_ID, DEFAULT_NEXT_BUTTON_ID, | ||
| DEFAULT_PREVIOUS_BUTTON_ID, controllers); | ||
| } | ||
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| /** | ||
| * Construct a new instance with the specified bindings. | ||
| * @param joystick The joystick port to use. | ||
| * @param axisId The axis on the joystick to use. | ||
| * @param nextButtonId The button to use to proceed to the next {@link IMotorController}. | ||
| * @param previousButtonId The button to use to proceed to the nex {@link IMotorController}. | ||
| * @param controllers The {@link IMotorController IMotorControllers} to test. | ||
| */ | ||
| @SuppressWarnings("WeakerAccess") | ||
| public SimpleControllersTester(Joystick joystick, int axisId, int nextButtonId, | ||
| int previousButtonId, | ||
| IMotorController... controllers) { | ||
| this.joystick = joystick; | ||
| this.axisId = axisId; | ||
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| // Make the buttons go the next and previous controller, or loop around if not available | ||
| new JoystickButton(this.joystick, nextButtonId).whenPressed(new SimpleCommand("Next " | ||
| + "controller ID", | ||
| () -> setCurrentController( | ||
| Optional.ofNullable(this.controllers.higherKey(this.currentController.getDeviceID())) | ||
| .orElse(this.controllers.firstKey())))); | ||
| new JoystickButton(this.joystick, previousButtonId).whenPressed(new SimpleCommand("Previous " | ||
| + "controller ID", | ||
| () -> setCurrentController( | ||
| Optional.ofNullable(this.controllers.lowerKey(this.currentController.getDeviceID())) | ||
| .orElse(this.controllers.lastKey())))); | ||
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| // Add a chooser that you can use to select the controller and initialize it to null, | ||
| // corresponding with buttons should be used | ||
| this.controllerChooser.addObject("Use buttons", null); | ||
| for (IMotorController controller : controllers) { | ||
| this.controllers.put(controller.getDeviceID(), controller); | ||
| this.controllerChooser.addObject(String.valueOf(controller.getDeviceID()), | ||
| controller.getDeviceID()); | ||
| } | ||
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| // Set the active controller to the first controller | ||
| setCurrentController(controllers[0].getDeviceID()); | ||
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| } | ||
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| /** | ||
| * Checks every tick if the chooser is set to a controller or to use buttons, then sets the | ||
| * output according to the value of the active joystick. | ||
| */ | ||
| @Override | ||
| protected void execute() { | ||
| if (controllerChooser.getSelected() != null) { | ||
| setCurrentController(controllerChooser.getSelected()); | ||
| } | ||
| currentController.set(ControlMode.PercentOutput, joystick.getRawAxis(axisId)); | ||
| } | ||
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| /** | ||
| * Updates the currently active {@link IMotorController}. | ||
| * @param newId The ID of the new {@link IMotorController}. | ||
| */ | ||
| @SuppressWarnings("WeakerAccess") | ||
| public void setCurrentController(int newId) { | ||
| if (currentController != null) { | ||
| currentController.set(ControlMode.PercentOutput, 0); | ||
| } | ||
| currentController = controllers.get(newId); | ||
| } | ||
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| /** | ||
| * Prevents the command from finishing. | ||
| * @return false. | ||
| */ | ||
| @Override | ||
| protected boolean isFinished() { | ||
| return false; | ||
| } | ||
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| /** | ||
| * Gets the chooser used for selecting the current {@link IMotorController}. | ||
| * @return A chooser. | ||
| */ | ||
| @SuppressWarnings("WeakerAccess") | ||
| public SendableChooser<Integer> getControllerChooser() { | ||
| return controllerChooser; | ||
| } | ||
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| /** | ||
| * Adds a single property showing the current active controller. | ||
| * @param builder The thing to add the things to. | ||
| */ | ||
| @Override | ||
| public void initSendable(SendableBuilder builder) { | ||
| builder.addDoubleProperty("Controller ID", () -> this.currentController.getDeviceID(), | ||
| (id) -> setCurrentController((int) id)); | ||
| } | ||
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| /** | ||
| * Add all the sendables to the {@link SmartDashboard}. Includes chooser for selecting the | ||
| * active {@link IMotorController} and information about the tester. | ||
| */ | ||
| public void addAllSendables() { | ||
| SmartDashboard.putData("Controller tester info", this); | ||
| SmartDashboard.putData("Controller choose", getControllerChooser()); | ||
| } | ||
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| } |