[wpilib] Add a default deadband to all gamepads (#8897)

The FTC DS had a deadband. Additionally, the FRC one had an implicit
deadband due to the only 8 bit resolution. We need a deadband by default
now with the high resolution gamepads.

commandsv2/src/main/native/cpp/frc2/command/button/CommandGamepad.cpp

@@ -127,14 +127,14 @@ Trigger CommandGamepad::Misc6(wpi::EventLoop* loop) const {
 Trigger CommandGamepad::LeftTrigger(double threshold,
                                     wpi::EventLoop* loop) const {
   return Trigger(loop, [this, threshold] {
-    return m_hid.GetLeftTriggerAxis() > threshold;
+    return m_hid.GetAxis(wpi::Gamepad::Axis::LEFT_TRIGGER) > threshold;
   });
 }
 
 Trigger CommandGamepad::RightTrigger(double threshold,
                                      wpi::EventLoop* loop) const {
   return Trigger(loop, [this, threshold] {
-    return m_hid.GetRightTriggerAxis() > threshold;
+    return m_hid.GetAxis(wpi::Gamepad::Axis::RIGHT_TRIGGER) > threshold;
   });
 }
 

wpilibc/src/main/native/cpp/driverstation/Gamepad.cpp

@@ -4,39 +4,71 @@
 
 #include "wpi/driverstation/Gamepad.hpp"
 
+#include <algorithm>
+#include <cmath>
+
 #include "wpi/event/BooleanEvent.hpp"
 #include "wpi/hal/UsageReporting.hpp"
+#include "wpi/math/util/MathUtil.hpp"
 #include "wpi/util/sendable/SendableBuilder.hpp"
 
 using namespace wpi;
 
+static double ClampDeadband(double deadband) {
+  if (std::isnan(deadband)) {
+    return 0.0;
+  }
+  return std::clamp(deadband, 0.0, std::nextafter(1.0, 0.0));
+}
+
 Gamepad::Gamepad(int port) : GenericHID(port) {
   HAL_ReportUsage("HID", port, "Gamepad");
 }
 
 double Gamepad::GetLeftX() const {
-  return GetAxis(Axis::LEFT_X);
+  return wpi::math::ApplyDeadband(GetAxis(Axis::LEFT_X), m_leftXDeadband);
+}
+
+void Gamepad::SetLeftXDeadband(double deadband) {
+  m_leftXDeadband = ClampDeadband(deadband);
 }
 
 double Gamepad::GetLeftY() const {
-  return GetAxis(Axis::LEFT_Y);
+  return wpi::math::ApplyDeadband(GetAxis(Axis::LEFT_Y), m_leftYDeadband);
+}
+
+void Gamepad::SetLeftYDeadband(double deadband) {
+  m_leftYDeadband = ClampDeadband(deadband);
 }
 
 double Gamepad::GetRightX() const {
-  return GetAxis(Axis::RIGHT_X);
+  return wpi::math::ApplyDeadband(GetAxis(Axis::RIGHT_X), m_rightXDeadband);
+}
+
+void Gamepad::SetRightXDeadband(double deadband) {
+  m_rightXDeadband = ClampDeadband(deadband);
 }
 
 double Gamepad::GetRightY() const {
-  return GetAxis(Axis::RIGHT_Y);
+  return wpi::math::ApplyDeadband(GetAxis(Axis::RIGHT_Y), m_rightYDeadband);
+}
+
+void Gamepad::SetRightYDeadband(double deadband) {
+  m_rightYDeadband = ClampDeadband(deadband);
 }
 
 double Gamepad::GetLeftTriggerAxis() const {
-  return GetAxis(Axis::LEFT_TRIGGER);
+  return wpi::math::ApplyDeadband(GetAxis(Axis::LEFT_TRIGGER),
+                                  m_leftTriggerDeadband);
+}
+
+void Gamepad::SetLeftTriggerDeadband(double deadband) {
+  m_leftTriggerDeadband = ClampDeadband(deadband);
 }
 
 BooleanEvent Gamepad::LeftTrigger(double threshold, EventLoop* loop) const {
   return BooleanEvent(loop, [this, threshold] {
-    return this->GetLeftTriggerAxis() > threshold;
+    return this->GetAxis(Axis::LEFT_TRIGGER) > threshold;
   });
 }
 
@@ -45,12 +77,17 @@ BooleanEvent Gamepad::LeftTrigger(EventLoop* loop) const {
 }
 
 double Gamepad::GetRightTriggerAxis() const {
-  return GetAxis(Axis::RIGHT_TRIGGER);
+  return wpi::math::ApplyDeadband(GetAxis(Axis::RIGHT_TRIGGER),
+                                  m_rightTriggerDeadband);
+}
+
+void Gamepad::SetRightTriggerDeadband(double deadband) {
+  m_rightTriggerDeadband = ClampDeadband(deadband);
 }
 
 BooleanEvent Gamepad::RightTrigger(double threshold, EventLoop* loop) const {
   return BooleanEvent(loop, [this, threshold] {
-    return this->GetRightTriggerAxis() > threshold;
+    return this->GetAxis(Axis::RIGHT_TRIGGER) > threshold;
   });
 }
 

wpilibc/src/main/native/include/wpi/driverstation/Gamepad.hpp

@@ -116,39 +116,99 @@ class Gamepad : public GenericHID,
   /**
    * Get the X axis value of left side of the controller. Right is positive.
    *
+   * A deadband of 0.1 is applied by default. Use SetLeftXDeadband() to change
+   * it.
+   *
    * @return the axis value.
    */
   double GetLeftX() const;
 
+  /**
+   * Set the deadband for the left X axis.
+   *
+   * The deadband is clamped to [0, 1).
+   *
+   * @param deadband The deadband to apply.
+   */
+  void SetLeftXDeadband(double deadband);
+
   /**
    * Get the Y axis value of left side of the controller. Back is positive.
    *
+   * A deadband of 0.1 is applied by default. Use SetLeftYDeadband() to change
+   * it.
+   *
    * @return the axis value.
    */
   double GetLeftY() const;
 
+  /**
+   * Set the deadband for the left Y axis.
+   *
+   * The deadband is clamped to [0, 1).
+   *
+   * @param deadband The deadband to apply.
+   */
+  void SetLeftYDeadband(double deadband);
+
   /**
    * Get the X axis value of right side of the controller. Right is positive.
    *
+   * A deadband of 0.1 is applied by default. Use SetRightXDeadband() to change
+   * it.
+   *
    * @return the axis value.
    */
   double GetRightX() const;
 
+  /**
+   * Set the deadband for the right X axis.
+   *
+   * The deadband is clamped to [0, 1).
+   *
+   * @param deadband The deadband to apply.
+   */
+  void SetRightXDeadband(double deadband);
+
   /**
    * Get the Y axis value of right side of the controller. Back is positive.
    *
+   * A deadband of 0.1 is applied by default. Use SetRightYDeadband() to change
+   * it.
+   *
    * @return the axis value.
    */
   double GetRightY() const;
 
+  /**
+   * Set the deadband for the right Y axis.
+   *
+   * The deadband is clamped to [0, 1).
+   *
+   * @param deadband The deadband to apply.
+   */
+  void SetRightYDeadband(double deadband);
+
   /**
    * Get the left trigger axis value of the controller. Note that this axis
    * is bound to the range of [0, 1] as opposed to the usual [-1, 1].
    *
+   * A deadband of 0.01 is applied by default. Use SetLeftTriggerDeadband() to
+   * change it.
+   *
    * @return the axis value.
    */
   double GetLeftTriggerAxis() const;
 
+  /**
+   * Set the deadband for the left trigger axis.
+   *
+   * The deadband is clamped to [0, 1).
+   *
+   * @param deadband The deadband to apply.
+   */
+  void SetLeftTriggerDeadband(double deadband);
+
   /**
    * Constructs an event instance around the axis value of the left trigger.
    * The returned trigger will be true when the axis value is greater than
@@ -175,10 +235,22 @@ class Gamepad : public GenericHID,
    * Get the right trigger axis value of the controller. Note that this axis
    * is bound to the range of [0, 1] as opposed to the usual [-1, 1].
    *
+   * A deadband of 0.01 is applied by default. Use SetRightTriggerDeadband() to
+   * change it.
+   *
    * @return the axis value.
    */
   double GetRightTriggerAxis() const;
 
+  /**
+   * Set the deadband for the right trigger axis.
+   *
+   * The deadband is clamped to [0, 1).
+   *
+   * @param deadband The deadband to apply.
+   */
+  void SetRightTriggerDeadband(double deadband);
+
   /**
    * Constructs an event instance around the axis value of the right trigger.
    * The returned trigger will be true when the axis value is greater than
@@ -1090,6 +1162,13 @@ class Gamepad : public GenericHID,
  private:
   double GetAxisForSendable(Axis axis) const;
   bool GetButtonForSendable(Button button) const;
+
+  double m_leftXDeadband = 0.1;
+  double m_leftYDeadband = 0.1;
+  double m_rightXDeadband = 0.1;
+  double m_rightYDeadband = 0.1;
+  double m_leftTriggerDeadband = 0.01;
+  double m_rightTriggerDeadband = 0.01;
 };
 
 }  // namespace wpi

wpilibc/src/main/python/semiwrap/Gamepad.yml

@@ -8,15 +8,21 @@ classes:
     methods:
       Gamepad:
       GetLeftX:
+      SetLeftXDeadband:
       GetLeftY:
+      SetLeftYDeadband:
       GetRightX:
+      SetRightXDeadband:
       GetRightY:
+      SetRightYDeadband:
       GetLeftTriggerAxis:
+      SetLeftTriggerDeadband:
       LeftTrigger:
         overloads:
           double, EventLoop* [const]:
           EventLoop* [const]:
       GetRightTriggerAxis:
+      SetRightTriggerDeadband:
       RightTrigger:
         overloads:
           double, EventLoop* [const]:

wpilibj/src/main/java/org/wpilib/driverstation/Gamepad.java

@@ -8,6 +8,7 @@ import org.wpilib.driverstation.internal.DriverStationBackend;
 import org.wpilib.event.BooleanEvent;
 import org.wpilib.event.EventLoop;
 import org.wpilib.hardware.hal.HAL;
+import org.wpilib.math.util.MathUtil;
 import org.wpilib.util.sendable.Sendable;
 import org.wpilib.util.sendable.SendableBuilder;
 
@@ -23,6 +24,8 @@ import org.wpilib.util.sendable.SendableBuilder;
  * party controllers.
  */
 public class Gamepad extends GenericHID implements Sendable {
+  private static final double MAX_DEADBAND = Math.nextDown(1.0);
+
   /** Represents a digital button on a Gamepad. */
   public enum Button {
     /** Face Down button. */
@@ -139,6 +142,20 @@ public class Gamepad extends GenericHID implements Sendable {
     }
   }
 
+  private double m_leftXDeadband = 0.1;
+  private double m_leftYDeadband = 0.1;
+  private double m_rightXDeadband = 0.1;
+  private double m_rightYDeadband = 0.1;
+  private double m_leftTriggerDeadband = 0.01;
+  private double m_rightTriggerDeadband = 0.01;
+
+  private static double clampDeadband(double deadband) {
+    if (Double.isNaN(deadband)) {
+      return 0.0;
+    }
+    return Math.clamp(deadband, 0.0, MAX_DEADBAND);
+  }
+
   /**
    * Construct an instance of a controller.
    *
@@ -149,50 +166,126 @@ public class Gamepad extends GenericHID implements Sendable {
     HAL.reportUsage("HID", port, "Gamepad");
   }
 
+  /**
+   * Set the deadband for the left X axis.
+   *
+   * <p>The deadband is clamped to [0, 1).
+   *
+   * @param deadband The deadband to apply.
+   */
+  public void setLeftXDeadband(double deadband) {
+    m_leftXDeadband = clampDeadband(deadband);
+  }
+
+  /**
+   * Set the deadband for the left Y axis.
+   *
+   * <p>The deadband is clamped to [0, 1).
+   *
+   * @param deadband The deadband to apply.
+   */
+  public void setLeftYDeadband(double deadband) {
+    m_leftYDeadband = clampDeadband(deadband);
+  }
+
+  /**
+   * Set the deadband for the right X axis.
+   *
+   * <p>The deadband is clamped to [0, 1).
+   *
+   * @param deadband The deadband to apply.
+   */
+  public void setRightXDeadband(double deadband) {
+    m_rightXDeadband = clampDeadband(deadband);
+  }
+
+  /**
+   * Set the deadband for the right Y axis.
+   *
+   * <p>The deadband is clamped to [0, 1).
+   *
+   * @param deadband The deadband to apply.
+   */
+  public void setRightYDeadband(double deadband) {
+    m_rightYDeadband = clampDeadband(deadband);
+  }
+
+  /**
+   * Set the deadband for the left trigger axis.
+   *
+   * <p>The deadband is clamped to [0, 1).
+   *
+   * @param deadband The deadband to apply.
+   */
+  public void setLeftTriggerDeadband(double deadband) {
+    m_leftTriggerDeadband = clampDeadband(deadband);
+  }
+
+  /**
+   * Set the deadband for the right trigger axis.
+   *
+   * <p>The deadband is clamped to [0, 1).
+   *
+   * @param deadband The deadband to apply.
+   */
+  public void setRightTriggerDeadband(double deadband) {
+    m_rightTriggerDeadband = clampDeadband(deadband);
+  }
+
   /**
    * Get the X axis value of left side of the controller. Right is positive.
    *
+   * <p>A deadband of 0.1 is applied by default. Use {@link #setLeftXDeadband} to change it.
+   *
    * @return The axis value.
    */
   public double getLeftX() {
-    return getAxis(Axis.LEFT_X);
+    return MathUtil.applyDeadband(getAxis(Axis.LEFT_X), m_leftXDeadband);
   }
 
   /**
    * Get the Y axis value of left side of the controller. Back is positive.
    *
+   * <p>A deadband of 0.1 is applied by default. Use {@link #setLeftYDeadband} to change it.
+   *
    * @return The axis value.
    */
   public double getLeftY() {
-    return getAxis(Axis.LEFT_Y);
+    return MathUtil.applyDeadband(getAxis(Axis.LEFT_Y), m_leftYDeadband);
   }
 
   /**
    * Get the X axis value of right side of the controller. Right is positive.
    *
+   * <p>A deadband of 0.1 is applied by default. Use {@link #setRightXDeadband} to change it.
+   *
    * @return The axis value.
    */
   public double getRightX() {
-    return getAxis(Axis.RIGHT_X);
+    return MathUtil.applyDeadband(getAxis(Axis.RIGHT_X), m_rightXDeadband);
   }
 
   /**
    * Get the Y axis value of right side of the controller. Back is positive.
    *
+   * <p>A deadband of 0.1 is applied by default. Use {@link #setRightYDeadband} to change it.
+   *
    * @return The axis value.
    */
   public double getRightY() {
-    return getAxis(Axis.RIGHT_Y);
+    return MathUtil.applyDeadband(getAxis(Axis.RIGHT_Y), m_rightYDeadband);
   }
 
   /**
    * Get the left trigger axis value of the controller. Note that this axis is bound to the range of
    * [0, 1] as opposed to the usual [-1, 1].
    *
+   * <p>A deadband of 0.01 is applied by default. Use {@link #setLeftTriggerDeadband} to change it.
+   *
    * @return The axis value.
    */
   public double getLeftTriggerAxis() {
-    return getAxis(Axis.LEFT_TRIGGER);
+    return MathUtil.applyDeadband(getAxis(Axis.LEFT_TRIGGER), m_leftTriggerDeadband);
   }
 
   /**
@@ -225,10 +318,12 @@ public class Gamepad extends GenericHID implements Sendable {
    * Get the right trigger axis value of the controller. Note that this axis is bound to the range
    * of [0, 1] as opposed to the usual [-1, 1].
    *
+   * <p>A deadband of 0.01 is applied by default. Use {@link #setRightTriggerDeadband} to change it.
+   *
    * @return The axis value.
    */
   public double getRightTriggerAxis() {
-    return getAxis(Axis.RIGHT_TRIGGER);
+    return MathUtil.applyDeadband(getAxis(Axis.RIGHT_TRIGGER), m_rightTriggerDeadband);
   }
 
   /**