parseInputs method

Implementation

@override
List<Message> parseInputs(GamepadState state) => [
    // Manual control
    if (state.normalRightX.abs() > state.normalRightY.abs() && state.normalRightX != 0)
      ArmCommand(swivel: MotorCommand(moveRadians: state.normalRightX * settings.swivel)),
    if (state.normalRightY.abs() > state.normalRightX.abs() && state.normalRightY != 0)
      ArmCommand(shoulder: MotorCommand(moveRadians: state.normalRightY * settings.shoulder)),
    if (state.normalLeftY != 0) ArmCommand(elbow: MotorCommand(moveRadians: state.normalLeftY * settings.elbow)),
    // The bumpers should be pseudo-IK: Move the shoulder and elbow in sync.
    if (state.normalShoulder != 0) ArmCommand(
      shoulder: MotorCommand(moveRadians: state.normalShoulder * settings.shoulder * -1),
      elbow: MotorCommand(moveRadians: state.normalShoulder * settings.elbow),
    ),

	// Gripper
	if (state.normalDpadY != 0) GripperCommand(lift: MotorCommand(moveRadians: state.normalDpadY * settings.lift)),
	if (state.normalDpadX != 0) GripperCommand(rotate: MotorCommand(moveRadians: state.normalDpadX * settings.rotate)),
	if (state.normalTrigger != 0) GripperCommand(pinch: MotorCommand(moveRadians: state.normalTrigger * settings.pinch)),

	// Custom actions
	if (state.buttonA && !isAPressed) () { isAPressed = true; return GripperCommand(open: true); }(),
	if (state.buttonB && !isBPressed) () { isBPressed = true; return GripperCommand(close: true); }(),
	if (state.buttonX && !isXPressed) () { isXPressed = true; return ArmCommand(jab: true); }(),
	if (state.buttonY && !isYPressed) () { isYPressed = true; return GripperCommand(spin: true); }(),

	// General commands
	if (state.buttonBack) ...[ArmCommand(stop: true), GripperCommand(stop: true)],
	if (state.buttonStart) ...[ArmCommand(calibrate: true), GripperCommand(calibrate: true)],
];