✨ Global instances of gamepad

include/gamepad/controller.hpp

@@ -43,11 +43,16 @@ class Button {
         EventHandler<> onReleaseEvent;
 };
 
+namespace _impl {
+static struct ControllerInit {
+        ControllerInit();
+        ~ControllerInit();
+} _controllerInit;
+} // namespace _impl
+
 class Controller {
+        friend struct _impl::ControllerInit;
     public:
-        explicit Controller(pros::controller_id_e_t id)
-            : controller(id) {}
-
         /**
          * Updates the state of the gamepad (all joysticks and buttons), and also runs
          * any registered handlers.
@@ -69,8 +74,15 @@ class Controller {
         Button L1 {}, L2 {}, R1 {}, R2 {}, Up {}, Down {}, Left {}, Right {}, X {}, B {}, Y {}, A {};
         float LeftX = 0, LeftY = 0, RightX = 0, RightY = 0;
     private:
+        explicit Controller(pros::controller_id_e_t id)
+            : controller(id) {}
+
         static Button Controller::*button_to_ptr(pros::controller_digital_e_t button);
         void updateButton(pros::controller_digital_e_t button_id);
         pros::Controller controller;
-}; // namespace Gamepad
+};
+
+extern Controller& master;
+extern Controller& partner;
+
 } // namespace Gamepad

src/gamepad/controller.cpp

@@ -1,8 +1,44 @@
 #include "gamepad/controller.hpp"
 #include "gamepad/todo.hpp"
+#include "pros/misc.h"
+
+#include <new>
 
 namespace Gamepad {
 
+union ControllerBuf {
+        // this is here to allow us to control when we initialize the Controller
+        char c;
+        Controller as_controller;
+
+        // empty destructor, the Controller must be manually destroyed by ControllerInit
+        ~ControllerBuf() {}
+};
+
+static uint32_t nifty_counter; // zero initialized at load time
+ControllerBuf master_buf {};
+Controller& master = master_buf.as_controller;
+ControllerBuf partner_buf {};
+Controller& partner = partner_buf.as_controller;
+
+_impl::ControllerInit::ControllerInit() {
+    // only initialize once, if we're the first ControllerInit instance
+    if (nifty_counter == 0) {
+        new (&master_buf.as_controller) Controller(pros::E_CONTROLLER_MASTER);
+        new (&partner_buf.as_controller) Controller(pros::E_CONTROLLER_PARTNER);
+    }
+    ++nifty_counter;
+}
+
+_impl::ControllerInit::~ControllerInit() {
+    --nifty_counter;
+    // only destroy if we're the last ControllerInit instance
+    if (nifty_counter == 0) {
+        master.~Controller();
+        partner.~Controller();
+    }
+}
+
 uint32_t Button::onPress(std::function<void(void)> func) { return this->onPressEvent.add_listener(std::move(func)); }
 
 uint32_t Button::onLongPress(std::function<void(void)> func) {

src/main.cpp

@@ -1,4 +1,5 @@
 #include "main.h"
+#include "gamepad/api.hpp"
 
 /**
  * A callback function for LLEMU's center button.
@@ -74,21 +75,17 @@ void autonomous() {}
  * task, not resume it from where it left off.
  */
 void opcontrol() {
-    pros::Controller master(pros::E_CONTROLLER_MASTER);
-    pros::MotorGroup left_mg({1, -2, 3}); // Creates a motor group with forwards ports 1 & 3 and reversed port 2
-    pros::MotorGroup right_mg({-4, 5, -6}); // Creates a motor group with forwards port 4 and reversed ports 4 & 6
+	
+	pros::MotorGroup left_mg({1, -2, 3});    // Creates a motor group with forwards ports 1 & 3 and reversed port 2
+	pros::MotorGroup right_mg({-4, 5, -6});  // Creates a motor group with forwards port 4 and reversed ports 4 & 6
 
-    while (true) {
-        pros::lcd::print(0, "%d %d %d", (pros::lcd::read_buttons() & LCD_BTN_LEFT) >> 2,
-                         (pros::lcd::read_buttons() & LCD_BTN_CENTER) >> 1,
-
-                         (pros::lcd::read_buttons() & LCD_BTN_RIGHT) >> 0); // Prints status of the emulated screen LCDs
-
-        // Arcade control scheme
-        int dir = master.get_analog(ANALOG_LEFT_Y); // Gets amount forward/backward from left joystick
-        int turn = master.get_analog(ANALOG_RIGHT_X); // Gets the turn left/right from right joystick
-        left_mg.move(dir - turn); // Sets left motor voltage
-        right_mg.move(dir + turn); // Sets right motor voltage
-        pros::delay(20); // Run for 20 ms then update
-    }
+	while (true) {
+		Gamepad::master.update();
+		// Arcade control scheme
+		int dir = Gamepad::master.LeftY;   // Gets amount forward/backward from left joystick
+		int turn = Gamepad::master.RightX;  // Gets the turn left/right from right joystick
+		left_mg.move(dir - turn);                      // Sets left motor voltage
+		right_mg.move(dir + turn);                     // Sets right motor voltage
+		pros::delay(20);                               // Run for 20 ms then update
+	}
 }