feat ✨: Add controller text support

include/gamepad/controller.hpp

@@ -1,7 +1,10 @@
 #pragma once
 
 #include <cstdint>
+#include <deque>
 #include <functional>
+#include <string>
+#include <utility>
 #ifndef PROS_USE_SIMPLE_NAMES
 #define PROS_USE_SIMPLE_NAMES
 #endif
@@ -47,6 +50,8 @@ class Controller {
          * @note Create a separate instance for each task.
          */
         void update();
+
+        void println(std::uint8_t line, std::string str, std::uint32_t duration);
         /**
          * Get the state of a button on the controller.
          * @param button Which button's state you want.
@@ -57,13 +62,21 @@ class Controller {
          * @param joystick Which joystick axis's value to return
          */
         float operator[](pros::controller_analog_e_t joystick);
+
         Button L1{}, L2{}, R1{}, R2{}, 
         Up{}, Down{}, Left{}, Right{}, 
         X{}, B{}, Y{}, A{};
         float LeftX = 0, LeftY = 0, RightX = 0, RightY = 0;
     private:
         static Button Controller::* button_to_ptr(pros::controller_digital_e_t button);
         void updateButton(pros::controller_digital_e_t button_id);
+        void updateScreen();
+
+        std::deque<std::pair<std::string, std::uint32_t>> screen_buffer[3];
+        std::pair<std::string, std::uint32_t> screen_contents[3];
+        uint32_t line_set_time[3];
+        uint8_t last_printed_line = 0;
+        uint32_t last_print_time = 0;
         pros::Controller controller;
 }; // namespace Gamepad
 }

src/gamepad/controller.cpp

@@ -1,4 +1,9 @@
 #include "gamepad/controller.hpp"
+#include "pros/rtos.hpp"
+#include <cstdint>
+#include <cstdlib>
+#include <string>
+#include <utility>
 
 namespace Gamepad {
 void Controller::updateButton(pros::controller_digital_e_t button_id) {
@@ -15,6 +20,27 @@ void Controller::updateButton(pros::controller_digital_e_t button_id) {
     }
 }
 
+void Controller::updateScreen() {
+    if (pros::millis() - this->last_print_time < 50)
+        return;
+
+    for (int i = 1; i < 3; i++) {
+        int line = (this->last_printed_line + i) % 3;
+
+        if (pros::millis() - this->line_set_time[line] < this->screen_contents[line].second)
+            continue;
+
+        this->controller.clear_line(line);
+        this->controller.set_text(line, 0, this->screen_buffer[line][0].first.c_str());
+        this->screen_contents[line] = this->screen_buffer[line][0];
+        this->screen_buffer[line].pop_front();
+
+        this->last_printed_line = line;
+        this->last_print_time = pros::millis();
+        break;
+    }
+}
+
 void Controller::update() {
     for(int i = DIGITAL_L1; i != DIGITAL_A; ++i) {
         this->updateButton(static_cast<pros::controller_digital_e_t>(i));
@@ -24,6 +50,14 @@ void Controller::update() {
     this->LeftY = this->controller.get_analog(ANALOG_LEFT_Y);
     this->RightX = this->controller.get_analog(ANALOG_RIGHT_X);
     this->RightY = this->controller.get_analog(ANALOG_RIGHT_Y);
+
+    this->updateScreen();
+}
+
+void Controller::println(uint8_t line, std::string str, std::uint32_t duration) {
+    if (line > 2) std::exit(1); // TODO: change handling
+
+    screen_buffer[line].push_back(std::make_pair(str, duration));
 }
 
 const Button& Controller::operator[](pros::controller_digital_e_t button) {