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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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22
wpilibj/src/main/java/edu/wpi/first/wpilibj/Joystick.java
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@@ -179,7 +179,7 @@ public class Joystick extends GenericHID {
/**
* Get the X value of the joystick. This depends on the mapping of the joystick connected to the
* current port.
* current port. On most joysticks, positive is to the right.
*
* @return The X value of the joystick.
*/
@@ -189,7 +189,7 @@ public class Joystick extends GenericHID {
/**
* Get the Y value of the joystick. This depends on the mapping of the joystick connected to the
* current port.
* current port. On most joysticks, positive is to the back.
*
* @return The Y value of the joystick.
*/
@@ -303,8 +303,8 @@ public class Joystick extends GenericHID {
}
/**
* 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
*/
@@ -313,16 +313,26 @@ public class Joystick extends GenericHID {
}
/**
* 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 Math.atan2(getX(), -getY());
}
/**
* 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
*/