Source code for seamonsters.joystick

import wpilib

__author__ = "seamonsters"

class TFlightHotasX:
    """
    Constants for the Thrustmaster T-Flight Hotas X joystick.
    """

    AXIS_X = 0
    AXIS_Y = 1
    AXIS_THROTTLE = 2
    AXIS_TWIST = 3
    AXIS_LEVER = 4


def deadZone(value, deadZone=0.1, maxValue=1.0):
    """
    Add a dead-zone to the number. Any input from ``deadZone`` to ``maxValue``
    is mapped to the range 0 to ``maxValue``. Negative numbers are also mapped.
    Any input between ``deadZone`` and ``-deadZone`` is mapped to 0.

    :param value: input number
    :param deadZone: the minimum "dead zone" value
    :param maxValue: the maximum value
    :return: the number, constrained to the minimum/maximum values
    """
    if abs(value) > deadZone:
        newValue = (abs(value) - deadZone) / (maxValue - deadZone)
        if newValue > maxValue:
            newValue = maxValue
        if value < 0:
            return -newValue
        else:
            return newValue
    else:
        return 0.0

def whileButtonPressed(joystick, button):
    """
    A generator which runs while the joystick button is pressed, then exits.

    :param joystick: a ``wpilib.Joystick``
    :param button: a button number
    """
    yield
    while joystick.getRawButton(button):
        yield

def untilButtonPressed(joystick, button):
    """
    A generator which runs until the joystick button is pressed, then exits.

    :param joystick: a ``wpilib.Joystick``
    :param button: a button number
    """
    yield
    while not joystick.getRawButton(button):
        yield

class DynamicAxis:
    """
    Makes values from a joystick axis go higher if you push them faster.
    """

    # try 2.0, 4.0, 0.5?
    def __init__(self, exponent=1.0, speedScaleFactor=0.0,
                 speedScaleExponent=0.0, deadZone=None):
        """
        ``exponent`` should be >= 1. ``speedScaleFactor`` should be >= 1.
        ``speedScaleExponent`` should be <= 1 (use 0 to ignore speed).
        ``deadZone`` should be < 1 and close to 0.
        """
        self.exponent = exponent
        self.speedScaleFactor = speedScaleFactor
        self.speedScaleExponent = speedScaleExponent
        self.deadZone = deadZone
        
        self.values = [0.0, 0.0, 0.0]
        self.scale = 1.0

    def update(self, value):
        """
        Update the value of the axis

        :param value: the raw axis value from the joystick
        :return: the adjusted value
        """
        if self.deadZone is not None:
            if abs(value) < self.deadZone:
                value = 0.0
        self.values.append(value)
        self.values.pop(0)
        
        reversedValues = list(self.values)
        reversedValues.reverse()
        if 0.0 in reversedValues:
            if reversedValues.index(0) == len(reversedValues) - 1:
                self.scale = (abs(self.values[-1]) * self.speedScaleFactor) \
                    ** self.speedScaleExponent
        
        adjustedValue = (value * self.scale) ** self.exponent
        if value >= 0:
            adjustedValue = abs(adjustedValue)
        else:
            adjustedValue = -abs(adjustedValue)
        return adjustedValue

if __name__ == "__main__":
    axis = DynamicAxis()
    print(axis.update(0.0))
    print(axis.update(1.0))
    print(axis.update(1.0))
    print(axis.update(0.5))