Common Repo Cleanup

Commented all files in input folder

src/main/java/common/core/NAR_Robot.java

@@ -19,7 +19,7 @@
  * @author Mason Lam
  */
 public class NAR_Robot extends IterativeRobotBase {
-    @SuppressWarnings("MemberName")
+  @SuppressWarnings("MemberName")
   static class Callback implements Comparable<Callback> {
     public Runnable func;
     public double period;

src/main/java/common/hardware/input/NAR_ButtonBoard.java

@@ -1,54 +1,46 @@
 package common.hardware.input;
 
-import edu.wpi.first.wpilibj.Joystick;
+import edu.wpi.first.wpilibj.GenericHID;
 import edu.wpi.first.wpilibj2.command.button.Trigger;
 
 /**
- * Wrapper for the WPILib Joystick class. Works with device that can be recognized as joystick as driverstation.
+ * Custom GenericHID class for team 3128's button board setup
  * @since 2023 Charged UP
- * @author Peter Ma, Arav Chadha
+ * @author Peter Ma, Arav Chadha, Mason Lam
  */
 public class NAR_ButtonBoard {
 
-    private Joystick stick;
+    private GenericHID device;
 
     private Trigger[] buttons;
 
-    public NAR_ButtonBoard(int deviceNumber) {
+    /**
+     * Creates a new button board object.
+     * @param port The port on DriverStation the button board is connected to.
+     */
+    public NAR_ButtonBoard(int port) {
         buttons = new Trigger[16];
-        stick = new Joystick(deviceNumber);
-
-        // 2023 btnboard has 12 buttons & 4 axis direction
+        device = new GenericHID(port);
 
+        // 2023 buttonBoard has 12 buttons & 4 axis direction
         for (int i = 0; i < 12; i++) {
             int buttonId = i;
-            buttons[buttonId] = new Trigger(() -> stick.getRawButton(buttonId + 1)); 
+            buttons[buttonId] = new Trigger(() -> device.getRawButton(buttonId + 1)); 
         }
 
-        buttons[12] = new Trigger(() -> stick.getX() == -1.0);
-        buttons[13] = new Trigger(() -> stick.getX() == 1.0);
-        buttons[14] = new Trigger(() -> stick.getY() == 1.0);
-        buttons[15] = new Trigger(() -> stick.getY() == -1.0);
+        buttons[12] = new Trigger(() -> device.getRawAxis(0) == -1.0);
+        buttons[13] = new Trigger(() -> device.getRawAxis(0) == 1.0);
+        buttons[14] = new Trigger(() -> device.getRawAxis(1) == 1.0);
+        buttons[15] = new Trigger(() -> device.getRawAxis(1) == -1.0);
 
     }
 
+    /**
+     * Returns a button on the board
+     * @param i The ID of the button
+     * @return Trigger to store the command to run
+     */
     public Trigger getButton(int i) {
         return buttons[i-1];
     }
-
-    public Trigger getPosXButton() {
-        return buttons[12];
-    }
-
-    public Trigger getNegXButton() {
-        return buttons[13];
-    }
-
-    public Trigger getPosYButton() {
-        return buttons[14];
-    }
-
-    public Trigger getNegYButton() {
-        return buttons[15];
-    }
 }

src/main/java/common/hardware/input/NAR_Joystick.java

@@ -14,10 +14,6 @@ public class NAR_Joystick {
 
     private final Trigger[] buttons;
 
-    /**
-     * POV convention: 0 = up, 45 = top right, 90 = right, 135 = buttom right, 180 = down, 225 = bottom left, 270 = left, 315 = top left
-     * We assign indices as angle / 45 [0,7]
-     */
     private final Trigger[] povButtons;
 
     private double xDeadband = 0.05;
@@ -28,12 +24,12 @@ public class NAR_Joystick {
 
     /**
      * Creates a new NAR_Joystick object
-     * @param deviceNumber The port the joystick is connected on driver station
+     * @param port The port the joystick is connected on driver station
      */
-    public NAR_Joystick(int deviceNumber) {
+    public NAR_Joystick(int port) {
         buttons = new Trigger[16];
         povButtons = new Trigger[8];
-        stick = new Joystick(deviceNumber);
+        stick = new Joystick(port);
 
         // Thrustmaster joystick has 16 buttons
 
@@ -82,6 +78,16 @@ public double getThrottle() {
         return mappedThrottle;
     }
 
+    /**
+     * Sets the throttle bounds for the joystick.
+     * @param lowerBound [0, 1] lowest possible throttle value.
+     * @param upperBound [0, 1] highest possible throttle value.
+     */
+    public void setThrottleBounds(double lowerBound, double upperBound) {
+        throttleLowerBound = lowerBound;
+        throttleUpperBound = upperBound;
+    }
+
     /**
      * Returns the button of the Joystick
      * @param i The ID of the button