HumanInput module

HumanInput.pseudo

// pseudo-code to describe a HumanInput class for the robot.
//
// The idea behind HumanInput is to isolate all logic that interprets human input
// into a single location. This allows Commands to extract an interpreted value
// to send into a subsystem instead of a raw value.
//
// All Input manipulation (filtering, smoothing, etc) becomes the responsibility of the
// HumanInput class instead of Commands or Subsystems. The benefit is that you can alter
// the manipulations without ever touching your Command or Subsystem code, reducing the 
// chance of side effect.

class HumanInput {

  // Input sources are injected via the constructor.
  public HumanInput(Gamepad gp, BanksBlock bb) {
    this.gamePad = gp
    this.banksBlock = bb
  }
  
  // Get methods are introduced for extracting interpreted values.
  public CurvatureDriveVal getCurvatureDriveVal() {
    double power = Math.pow(gp.LeftStick().Vertical(), 3)
    double angle = gamePad.RightStick().Horizontal()
    bool qt = gamePad.Button1()
    
    return new CurvatureDriveVal(power, angle, qt)
  }
  
  // Some methods are really simple, but we can make them complex 
  // later -- if we need to -- while keeping the risk of side effects low.
  public double getIntakePower() { 
    return banksBlock.leftSlider() // Direct translation
  }
}

// Somewhere else....
class DriveCommand extends CommandBase {

  // This comand is influenced by human input, so inject it into the constructor.
  // It operates the DriveTrain, so inject that also.
  public DriveCommmand(HumanInput humanInput, DriveTrain driveTrain) {
    this.humanInput = humanInput
    this.driveTrain = driveTrain
    
    // Take control of drive train
    addRequirement(driveTrain)
  }

  public void execute() {
    // The command focuses on orchestrating the robot operation. The Subsystem 
    // can stay focused on sending the control values to the components.
    in = humanInput.getDriveCurvatureVal();
    driveTrain.curvature(in.power(), in.angle(), in.isQuickTurn);
  }
  
}