Controller.java

package frc.robot.utils;

import java.util.Map;

import edu.wpi.first.wpilibj.XboxController;
import frc.robot.Constants;

public class Controller extends XboxController {

	public final double kGHOST = .05; // Threshold for blocking ghost signals

	/**
	 * Initializes an Xbox controller.
	 * 
	 * @param port Controller port (default should be 0)
	 */

	public Controller(int port) {
		super(port);
	}

	/**
	 * Get the current joystick values in a Hashmap
	 * 
	 * @return Returns stick values - Used in DriveTrain when driving
	 */
	public Map<String, Double> getSticks() {
		// Returns a map of the sticks accessible by their keys ie - get("LSX")
		return Map.of("LSX", this.getLeftX(), "LSY", this.getLeftY(), "RSX", this.getRightX(), "RSY", this.getRightY());
	}

	/**
	 * Get the joystick's right-x stick values
	 * 
	 * @return Returns stick value as long as it exceeds the kGhost value -
	 *         otherwise we return 0
	 */
	public double getRightX() {
		return (super.getRawAxis(Constants.ControllerConstants.S_RIGHT_X_PORT) > kGHOST
				|| super.getRawAxis(Constants.ControllerConstants.S_RIGHT_X_PORT) < -kGHOST)
						? super.getRawAxis(Constants.ControllerConstants.S_RIGHT_X_PORT)
						: 0;
	}

	/**
	 * Get the joystick's right-y stick values
	 * 
	 * @return Returns stick value as long as it exceeds the kGhost value -
	 *         otherwise we return 0
	 */
	public double getRightY() {
		return (-super.getRawAxis(Constants.ControllerConstants.S_RIGHT_Y_PORT) > kGHOST
				|| -super.getRawAxis(Constants.ControllerConstants.S_RIGHT_Y_PORT) < -kGHOST)
						? -super.getRawAxis(Constants.ControllerConstants.S_RIGHT_Y_PORT)
						: 0;
	}

	/**
	 * Get the joystick's left-x stick values
	 * 
	 * @return Returns stick value as long as it exceeds the kGhost value -
	 *         otherwise we return 0
	 */
	public double getLeftX() {
		return (super.getRawAxis(Constants.ControllerConstants.S_LEFT_X_PORT) > kGHOST
				|| super.getRawAxis(Constants.ControllerConstants.S_LEFT_X_PORT) < -kGHOST)
						? super.getRawAxis(Constants.ControllerConstants.S_LEFT_X_PORT)
						: 0;
	}

	/**
	 * Get the joystick's left-y stick values
	 * 
	 * @return Returns stick value as long as it exceeds the kGhost value -
	 *         otherwise we return 0
	 */
	public double getLeftY() {
		return (-super.getRawAxis(Constants.ControllerConstants.S_LEFT_Y_PORT) > kGHOST
				|| -super.getRawAxis(Constants.ControllerConstants.S_LEFT_Y_PORT) < -kGHOST)
						? -super.getRawAxis(Constants.ControllerConstants.S_LEFT_Y_PORT)
						: 0;
	}

	/**
	 * Get the controller's dpad value
	 * 
	 * @return Returns the Joysticks DPad values
	 */
	public int getDPad() {
		return super.getPOV();
	}

	/**
	 * Get the Xbox Controller's Right trigger
	 * 
	 * @return The controller's right trigger value
	 */
	public double getRightTrigger() {
		return super.getTriggerAxis(Hand.kRight);
	}

	/**
	 * Get the Xbox Controller's Left trigger
	 * 
	 * @return The controller's left trigger value
	 */
	public double getLeftTrigger() {
		return super.getTriggerAxis(Hand.kLeft);
	}

	/**
	 * Get the Xbox Controller right hand (right side)
	 * 
	 * @return The Right side of the controller
	 */
	public Hand getRightHand() {
		return Hand.kRight;
	}

	/**
	 * Get the Xbox Controller left hand (left side)
	 * 
	 * @return The left side of the controller
	 */
	public Hand getLeftHand() {
		return Hand.kLeft;
	}

	/**
	 * Whether the bumper was pressed since the last check.
	 * 
	 * @return Boolean (true) pressed / (false) not pressed
	 */
	public boolean getRightBumperPressed() {
		return super.getBumperPressed(getRightHand());
	}

	/**
	 * Whether the bumper was pressed since the last check.
	 * 
	 * @return Boolean (true) pressed / (false) not pressed
	 */
	public boolean getLeftBumperPressed() {
		return super.getBumperPressed(getLeftHand());
	}

}