/// <summary>
/// Provides arcade style driving for the robot.
/// </summary>
/// <remarks>Given a single joystick, the class assumes the Y axis for the move value and the X
/// axis for the rotate value.</remarks>
/// <param name="stick">The joystick to use for drving. Y-axis will be forward/backwards, and X-axis
/// will be rotation.</param>
/// <param name="squaredInputs">If this setting is true, it decreases the sensitvity at lower speeds.</param>
public void ArcadeDrive(GenericHID stick, bool squaredInputs = true)
{
if (stick == null)
{
throw new ArgumentNullException(nameof(stick), "Joystick provided was null");
}
ArcadeDrive(stick.GetY(), stick.GetX(), squaredInputs);
}
/// <summary>
/// Provide tank style driving for the robot.
/// </summary>
/// <remarks>Drives the robot using the 2 joystick inputs. The Y-axis will be selected
/// from each joystick object.</remarks>
/// <param name="leftStick">The joystick to control the left side of the robot.</param>
/// <param name="rightStick">The joystick to control the right side of the robot.</param>
/// <param name="squaredInputs">If this setting is true, it decreases the sensitvity at lower speeds.</param>
public void TankDrive(GenericHID leftStick, GenericHID rightStick, bool squaredInputs = true)
{
if (leftStick == null)
{
throw new ArgumentNullException(nameof(leftStick), "Joystick provided was null");
}
if (rightStick == null)
{
throw new ArgumentNullException(nameof(rightStick), "Joystick provided was null");
}
TankDrive(leftStick.GetY(), rightStick.GetY(), squaredInputs);
}
/// <summary>
/// Provides arcade style driving for the robot.
/// </summary>
/// <remarks>Given 2 joysticks and 2 axis numbers, computes the values to send to the drive.</remarks>
/// <param name="moveStick">The Joystick object that represents the forward/backward direction</param>
/// <param name="moveAxis">The axis on the moveStick to use.</param>
/// <param name="rotateStick">The Joystick object that represents the rotation value</param>
/// <param name="rotateAxis">The axis on the rotationStick to use.</param>
/// <param name="squaredInputs">If this setting is true, it decreases the sensitvity at lower speeds.</param>
public void ArcadeDrive(GenericHID moveStick, int moveAxis, GenericHID rotateStick, int rotateAxis,
bool squaredInputs = true)
{
if (moveStick == null)
{
throw new ArgumentNullException(nameof(moveStick), "Joystick provided was null");
}
if (rotateStick == null)
{
throw new ArgumentNullException(nameof(rotateStick), "Joystick provided was null");
}
double moveValue = moveStick.GetRawAxis(moveAxis);
double rotateValue = rotateStick.GetRawAxis(rotateAxis);
ArcadeDrive(moveValue, rotateValue, squaredInputs);
}
/// <summary>
/// Provides arcade style driving for the robot.
/// </summary>
/// <remarks>Given 2 joysticks and 2 axis numbers, computes the values to send to the drive.</remarks>
/// <param name="moveStick">The Joystick object that represents the forward/backward direction</param>
/// <param name="moveAxis">The axis on the moveStick to use.</param>
/// <param name="rotateStick">The Joystick object that represents the rotation value</param>
/// <param name="rotateAxis">The axis on the rotationStick to use.</param>
/// <param name="squaredInputs">If this setting is true, it decreases the sensitvity at lower speeds.</param>
public void ArcadeDrive(GenericHID moveStick, int moveAxis, GenericHID rotateStick, int rotateAxis,
bool squaredInputs = true)
{
if (moveStick == null)
throw new ArgumentNullException(nameof(moveStick), "Joystick provided was null");
if (rotateStick == null)
throw new ArgumentNullException(nameof(rotateStick), "Joystick provided was null");
double moveValue = moveStick.GetRawAxis(moveAxis);
double rotateValue = rotateStick.GetRawAxis(rotateAxis);
ArcadeDrive(moveValue, rotateValue, squaredInputs);
}
/// <summary>
/// Provides arcade style driving for the robot.
/// </summary>
/// <remarks>Given a single joystick, the class assumes the Y axis for the move value and the X
/// axis for the rotate value.</remarks>
/// <param name="stick">The joystick to use for drving. Y-axis will be forward/backwards, and X-axis
/// will be rotation.</param>
/// <param name="squaredInputs">If this setting is true, it decreases the sensitvity at lower speeds.</param>
public void ArcadeDrive(GenericHID stick, bool squaredInputs = true)
{
if (stick == null)
throw new ArgumentNullException(nameof(stick), "Joystick provided was null");
ArcadeDrive(stick.GetY(), stick.GetX(), squaredInputs);
}
/// <summary>
/// Provide tank style driving for the robot.
/// </summary>
/// <remarks>This function lets you pick the axis to be used on each joystick object for
/// each side of the robot.</remarks>
/// <param name="leftStick">The joystick to use for the left side.</param>
/// <param name="leftAxis">The axis to select on the left joystick.</param>
/// <param name="rightStick">The joystick to use for the right side.</param>
/// <param name="rightAxis">The axis to select on the right joystick</param>
/// <param name="squaredInputs">If this setting is true, it decreases the sensitvity at lower speeds.</param>
public void TankDrive(GenericHID leftStick, int leftAxis,
GenericHID rightStick, int rightAxis, bool squaredInputs = true)
{
if (leftStick == null)
throw new ArgumentNullException(nameof(leftStick), "Joystick provided was null");
if (rightStick == null)
throw new ArgumentNullException(nameof(rightStick), "Joystick provided was null");
TankDrive(leftStick.GetRawAxis(leftAxis), rightStick.GetRawAxis(rightAxis), squaredInputs);
}
