OI.java

package frc.robot;

import java.util.function.DoubleSupplier;

import edu.wpi.first.wpilibj2.command.InstantCommand;
import edu.wpi.first.wpilibj2.command.button.JoystickButton;
import edu.wpi.first.wpilibj2.command.button.Trigger;
import frc.robot.subsystems.Elevator;
import edu.wpi.first.wpilibj.XboxController;

public class OI {
    
    // Reference to RobotContainer for accessing subsystems
    
    /**
     * Initialize OI with a reference to RobotContainer
     * @param container The RobotContainer instance
     */

    /**
     * Controller port mappings
     */
    private static class PORT {
        private static final int DRIVE_CONTROLLER_PORT = 0;
        private static final int OPERATOR_CONTROLLER_PORT = 1; // Added operator controller port
    }
    // Trigger thresholds
    public static final double TRIGGER_THRESHOLD = 0.1;


    /**
     * Bidings on driver controls
     */
    private static final XboxController xboxController = new XboxController(PORT.DRIVE_CONTROLLER_PORT);
    public static final XboxController operatorController = new XboxController(PORT.OPERATOR_CONTROLLER_PORT); // Changed to public

    private static class DRIVER_MAP {
    private static final int ABUTTON = XboxController.Button.kA.value;
    private static final int BBUTTON = XboxController.Button.kB.value;
    }

    // drive sticks
    public static DoubleSupplier xboxLeftStickXSupplier = () -> { return processDriveInput(-xboxController.getLeftX()); };
    public static DoubleSupplier xboxLeftStickYSupplier = () -> { return processDriveInput(-xboxController.getLeftY()); };
    public static DoubleSupplier xboxRightStickXSupplier = () -> { return processRotationInput(-xboxController.getRightX()); };
    public static DoubleSupplier xboxRightStickYSupplier = () -> { return processRotationInput(xboxController.getRightY()); };

    // drive buttons
    public static final JoystickButton driveControllerA = new JoystickButton(xboxController, DRIVER_MAP.ABUTTON); 
    public static final JoystickButton driveControllerB = new JoystickButton(xboxController, DRIVER_MAP.BBUTTON); 
    public static final Trigger driveRightTrigger = new Trigger(() -> 
								   xboxController.getRightTriggerAxis() > TRIGGER_THRESHOLD);
            
    private static double processDriveInput(double raw) {
        if (Math.abs(raw) < 0.1) {
            raw = 0 ;
        }
        return raw;
    }

    private static double processRotationInput(double raw) {
        if (Math.abs(raw) < 0.1) {
            raw = 0;
        }
        return raw*4;
    }
    
    /**
     * Bindings on operator controls
     */
    private static class operatorBindings {
        private static final int A_BUTTON = XboxController.Button.kA.value;
        private  static final int B_BUTTON = XboxController.Button.kB.value;
        private static final int X_BUTTON = XboxController.Button.kX.value;
        private static final int Y_BUTTON = XboxController.Button.kY.value;
        private static final int LEFT_BUMPER = XboxController.Button.kLeftBumper.value;
        private static final int RIGHT_BUMPER = XboxController.Button.kRightBumper.value;
        private static final int START_BUTTON = XboxController.Button.kStart.value;
        private static final int BACK_BUTTON = XboxController.Button.kBack.value;
        
    }
        public static final JoystickButton operatorControllerA = new JoystickButton(operatorController, operatorBindings.A_BUTTON);
        public static final JoystickButton operatorControllerB = new JoystickButton(operatorController, operatorBindings.B_BUTTON);
        public static final JoystickButton operatorControllerX = new JoystickButton(operatorController, operatorBindings.X_BUTTON);
        public static final JoystickButton operatorControllerY = new JoystickButton(operatorController, operatorBindings.Y_BUTTON);
        public static final JoystickButton operatorControllerLeftBumper = new JoystickButton(operatorController, operatorBindings.LEFT_BUMPER);
        public static final JoystickButton operatorControllerRightBumper = new JoystickButton(operatorController, operatorBindings.RIGHT_BUMPER);
        public static final JoystickButton operatorControllerStart = new JoystickButton(operatorController, operatorBindings.START_BUTTON);
        public static final JoystickButton operatorControllerBack = new JoystickButton(operatorController, operatorBindings.BACK_BUTTON);
        
        // Trigger controls for coral claw
        public static final Trigger operatorRightTrigger = new Trigger(() -> 
            operatorController.getRightTriggerAxis() > TRIGGER_THRESHOLD);
            
        public static final Trigger operatorLeftTrigger = new Trigger(() -> 
            operatorController.getLeftTriggerAxis() > TRIGGER_THRESHOLD);
            
        public static double processElevatorInput(double input) {
            return -Math.signum(input) * Math.pow(Math.abs(input), 2) * 0.7;
        }
}