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[wpilib, commands] Improve HID direction documentation (NFC) (#7672)

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This commit is contained in:
Joseph Eng
2025-01-19 20:34:07 -08:00
committed by GitHub
parent 00445f4f27
commit 72541c10e6
28 changed files with 168 additions and 99 deletions
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24
wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/button/CommandJoystick.java
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@@ -173,6 +173,9 @@ public class CommandJoystick extends CommandGenericHID {
/**
* Get the x position of the HID.
*
* <p>This depends on the mapping of the joystick connected to the current port. On most
* joysticks, positive is to the right.
*
* @return the x position
*/
public double getX() {
@@ -182,6 +185,9 @@ public class CommandJoystick extends CommandGenericHID {
/**
* Get the y position of the HID.
*
* <p>This depends on the mapping of the joystick connected to the current port. On most
* joysticks, positive is to the back.
*
* @return the y position
*/
public double getY() {
@@ -218,8 +224,8 @@ public class CommandJoystick extends CommandGenericHID {
}
/**
* Get the magnitude of the direction vector formed by the joystick's current position relative to
* its origin.
* Get the magnitude of the vector formed by the joystick's current position relative to its
* origin.
*
* @return The magnitude of the direction vector
*/
@@ -228,16 +234,26 @@ public class CommandJoystick extends CommandGenericHID {
}
/**
* Get the direction of the vector formed by the joystick and its origin in radians.
* Get the direction of the vector formed by the joystick and its origin in radians. 0 is forward
* and clockwise is positive. (Straight right is π/2.)
*
* @return The direction of the vector in radians
*/
public double getDirectionRadians() {
// https://docs.wpilib.org/en/stable/docs/software/basic-programming/coordinate-system.html#joystick-and-controller-coordinate-system
// A positive rotation around the X axis moves the joystick right, and a
// positive rotation around the Y axis moves the joystick backward. When
// treating them as translations, 0 radians is measured from the right
// direction, and angle increases clockwise.
//
// It's rotated 90 degrees CCW (y is negated and the arguments are reversed)
// so that 0 radians is forward.
return m_hid.getDirectionRadians();
}
/**
* Get the direction of the vector formed by the joystick and its origin in degrees.
* Get the direction of the vector formed by the joystick and its origin in degrees. 0 is forward
* and clockwise is positive. (Straight right is 90.)
*
* @return The direction of the vector in degrees
*/