Util

The Util(short for utilities) file is used to store helper clases, custom functions for our code, and reusable files. Think of it as a toolbox for Orgnizaing your robot, making custom files for it, and getting reusable parts of code.

One way Vortx uses the Util files is with Vortx’s custom Xbox Controller libary

 
package frc.robot.util;
 
import edu.wpi.first.wpilibj.GenericHID.RumbleType;
import edu.wpi.first.wpilibj2.command.button.CommandXboxController;
import edu.wpi.first.wpilibj2.command.button.Trigger;
 
public class VorTXControllerXbox extends CommandXboxController {
  public Trigger aButton,
      bButton,
      xButton,
      yButton,
      view,
      menu,
      ls,
      rs,
      lb,
      rb,
      lt,
      rt,
      povUp,
      povUpRight,
      povRight,
      povDownRight,
      povDown,
      povDownLeft,
      povLeft,
      povUpLeft;
 
  public VorTXControllerXbox(int port) {
    super(port);
 
    aButton = this.a();
    bButton = this.b();
    xButton = this.x();
    yButton = this.y();
    lb = this.leftBumper();
    rb = this.rightBumper();
    view = this.back();
    menu = this.start();
    ls = this.leftStick();
    rs = this.rightStick();
    lt = this.leftTrigger();
    rt = this.rightTrigger();
 
    povUp = this.povUp();
    povUpRight = this.povUpRight();
    povRight = this.povRight();
    povDownRight = this.povDownRight();
    povDown = this.povDown();
    povDownLeft = this.povDownLeft();
    povLeft = this.povLeft();
    povUpLeft = this.povUpLeft();
  }
 
  /**
   * This method is to fix the flawed input of an XBOX controller. The input is a box, both X and Y
   * axis can go from -1 to 1. However, since the controller build physically forces the joystick
   * into a circle, its impossible to reach the the corner of the box. This method fixes that issue.
   *
   * <p>This was originally made for driving swerve, as you don't want to slow down when moving
   * diagonally.
   *
   * @param isLeft - Are you asking for the left joystick?
   * @param isX - Are you asking for the X Axis?
   * @return The value of whichever joystick and axis you asked for.
   */
  public double joystickFix(boolean isLeft, boolean isX) {
    double root2 = Math.sqrt(2);
    double x = isLeft ? getTrueLeftX() : getTrueRightX();
    double y = isLeft ? getTrueLeftY() : getTrueRightY();
    double magnitude = Math.sqrt(x * x + y * y);
    double[] joystick = {
      Math.signum(x) * Math.min(Math.abs(x * root2), magnitude),
      Math.signum(y) * Math.min(Math.abs(y * root2), magnitude)
    };
    return isX ? joystick[0] : joystick[1];
  }
 
  /**
   * This gets the fixed value of the joystick using our {@link #joystickFix(boolean, boolean)
   * joystickFix(isLeft, isX)} method To get the true value of the joystick, please use the {@link
   * #getTrueLeftX() getTrueLeftX()} method
   */
  @Override
  public double getLeftX() {
    return joystickFix(true, true);
  }
 
  /**
   * This gets the fixed value of the joystick using our {@link #joystickFix(boolean, boolean)
   * joystickFix(isLeft, isX)} method To get the true value of the joystick, please use the {@link
   * #getTrueLeftY() getTrueLeftY()} method
   */
  @Override
  public double getLeftY() {
    return joystickFix(true, false);
  }
 
  /**
   * This gets the fixed value of the joystick using our {@link #joystickFix(boolean, boolean)
   * joystickFix(isLeft, isX)} method To get the true value of the joystick, please use the {@link
   * #getTrueRightX() getTrueRightX()} method
   */
  @Override
  public double getRightX() {
    return joystickFix(false, true);
  }
 
  /**
   * This gets the fixed value of the joystick using our {@link #joystickFix(boolean, boolean)
   * joystickFix(isLeft, isX)} method To get the true value of the joystick, please use the {@link
   * #getTrueRightY() getTrueRightY()} method
   */
  @Override
  public double getRightY() {
    return joystickFix(false, false);
  }
 
  public double getTrueLeftX() {
    return getHID().getLeftX();
  }
 
  public double getTrueLeftY() {
    return getHID().getLeftY();
  }
 
  public double getTrueRightX() {
    return getHID().getRightX();
  }
 
  public double getTrueRightY() {
    return getHID().getRightY();
  }
 
  public void setRumble(RumbleType rumble, double intensity) {
    getHID().setRumble(rumble, intensity);
  }
}

Becasue we were able to use our Custom libary in the Util folder we don’t have to fill up other Subsystem or Command files with button bindings allowing us to have those files consist of code that focuses solely on their respective Subystem.

We utilize the following Tenets to be able to make the most out of our Util Folder

1.Keep it basic(should be reusable)

2.Have good Articulatoin(Documentation should be good)

3.Test Throughouly(bugs in Util effect the entire robot and cause problems for everyone)

4.Prioritize Consise naming convections over rushed comments(XboxController > sticklibary)