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[wpilib] Split DriverStation into smaller classes (#8628)

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Thad House
2026-04-18 19:56:45 -07:00
committed by GitHub
parent 58ad633ae2
commit ab2aef2c29
108 changed files with 4406 additions and 3211 deletions
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82
wpilibj/src/main/java/org/wpilib/driverstation/POVDirection.java Normal file
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// Copyright (c) FIRST and other WPILib contributors.
// Open Source Software; you can modify and/or share it under the terms of
// the WPILib BSD license file in the root directory of this project.
package org.wpilib.driverstation;
import java.util.Optional;
import org.wpilib.math.geometry.Rotation2d;
import org.wpilib.system.Timer;
/** A controller POV direction. */
public enum POVDirection {
/** POV center. */
CENTER(0x00),
/** POV up. */
UP(0x01),
/** POV up right. */
UP_RIGHT(0x01 | 0x02),
/** POV right. */
RIGHT(0x02),
/** POV down right. */
DOWN_RIGHT(0x02 | 0x04),
/** POV down. */
DOWN(0x04),
/** POV down left. */
DOWN_LEFT(0x04 | 0x08),
/** POV left. */
LEFT(0x08),
/** POV up left. */
UP_LEFT(0x01 | 0x08);
private static final double INVALID_POV_VALUE_INTERVAL = 1.0;
private static double s_nextMessageTime;
/**
* Converts a byte value into a POVDirection enum value.
*
* @param value The byte value to convert.
* @return The corresponding POVDirection enum value.
* @throws IllegalArgumentException If value does not correspond to a POVDirection.
*/
public static POVDirection of(byte value) {
for (var direction : values()) {
if (direction.value == value) {
return direction;
}
}
double currentTime = Timer.getTimestamp();
if (currentTime > s_nextMessageTime) {
DriverStationErrors.reportError("Invalid POV value " + value + "!", false);
s_nextMessageTime = currentTime + INVALID_POV_VALUE_INTERVAL;
}
return CENTER;
}
/** The corresponding HAL value. */
public final byte value;
POVDirection(int value) {
this.value = (byte) value;
}
/**
* Gets the angle of a POVDirection.
*
* @return The angle clockwise from straight up, or Optional.empty() if this POVDirection is
* CENTER.
*/
public Optional<Rotation2d> getAngle() {
return switch (this) {
case CENTER -> Optional.empty();
case UP -> Optional.of(Rotation2d.fromDegrees(0));
case UP_RIGHT -> Optional.of(Rotation2d.fromDegrees(45));
case RIGHT -> Optional.of(Rotation2d.fromDegrees(90));
case DOWN_RIGHT -> Optional.of(Rotation2d.fromDegrees(135));
case DOWN -> Optional.of(Rotation2d.fromDegrees(180));
case DOWN_LEFT -> Optional.of(Rotation2d.fromDegrees(225));
case LEFT -> Optional.of(Rotation2d.fromDegrees(270));
case UP_LEFT -> Optional.of(Rotation2d.fromDegrees(315));
};
}
}