Xbox Controller Plus (#14)

* added xbox controller wrapper

* incremented maven version

* inremented version

* not done

* got it working finally

* version

* small changes

* added atomic boolean

* added public member for getting rumble state

build.gradle

@@ -13,6 +13,9 @@ plugins {
 repositories {
     mavenLocal()
     mavenCentral()
+    maven {
+        url "http://devsite.ctr-electronics.com/maven/release/"
+    }
 }
 
 dependencies {
@@ -32,7 +35,7 @@ dependencies {
 }
 
 group = 'org.team5499'
-version = '2.5.0'
+version = '2.6.0'
 
 task sourcesJar(type: Jar) {
     from sourceSets.main.allJava

src/main/kotlin/org/team5499/monkeyLib/hardware/XboxControllerPlus.kt

@@ -0,0 +1,67 @@
+package org.team5499.monkeyLib.hardware
+
+import edu.wpi.first.wpilibj.XboxController
+
+import org.team5499.monkeyLib.util.time.ITimer
+import org.team5499.monkeyLib.util.time.WPITimer
+
+import java.util.concurrent.atomic.AtomicBoolean
+
+// adapted from 1323
+public class XboxControllerPlus(portNumber: Int, timer: ITimer = WPITimer()) : XboxController(portNumber) {
+
+    private val mRumbling: AtomicBoolean
+    private val mTimer: ITimer
+
+    public val isRumbling: Boolean
+        get() = mRumbling.get()
+
+    init {
+        mRumbling = AtomicBoolean(false)
+        mTimer = timer
+    }
+
+    public fun cancelRumble() {
+        mRumbling.set(false)
+    }
+
+    public fun rumble(rumblesPerSecond: Double, numberOfSeconds: Double) {
+        if (!mRumbling.get()) {
+            val thread = RumbleThread(rumblesPerSecond, numberOfSeconds)
+            thread.start()
+        }
+    }
+
+    private inner class RumbleThread(rumblesPerSecond: Double, numberOfSeconds: Double) : Thread() {
+        private val mRumblesPerSecond: Double
+        private val mInterval: Long
+        private val mSeconds: Double
+
+        init {
+            mRumblesPerSecond = rumblesPerSecond
+            mSeconds = numberOfSeconds
+            mInterval = (1 / (rumblesPerSecond * 2.0) * 1000.0).toLong()
+        }
+
+        public override fun start() {
+            mRumbling.set(true)
+            mTimer.stop()
+            mTimer.reset()
+            mTimer.start()
+            try {
+                while (mTimer.get() < mSeconds && mRumbling.get()) {
+                    setRumble(RumbleType.kLeftRumble, 1.0)
+                    setRumble(RumbleType.kRightRumble, 1.0)
+                    sleep(mInterval)
+                    setRumble(RumbleType.kLeftRumble, 0.0)
+                    setRumble(RumbleType.kRightRumble, 0.0)
+                    sleep(mInterval)
+                }
+            } catch (e: InterruptedException) {
+                mRumbling.set(false)
+                e.printStackTrace()
+            }
+            mRumbling.set(false)
+        }
+    }
+}