From 6f73ef40dbcba43a7c44026b92b8c40e878c4469 Mon Sep 17 00:00:00 2001
From: Gold87 <91761103+Gold872@users.noreply.github.com>
Date: Tue, 22 Oct 2024 21:58:09 -0400
Subject: [PATCH 01/15] Add controllers page and widget

---
 assets/gamesir_controller.png        | Bin 0 -> 219322 bytes
 lib/pages.dart                       |   3 +
 lib/src/models/rover/controller.dart |   1 +
 lib/src/pages/controller.dart        | 333 +++++++++++++++++++++++++++
 lib/src/pages/view.dart              |   6 +
 lib/src/services/gamepad/state.dart  |   6 +
 6 files changed, 349 insertions(+)
 create mode 100644 assets/gamesir_controller.png
 create mode 100644 lib/src/pages/controller.dart

diff --git a/assets/gamesir_controller.png b/assets/gamesir_controller.png
new file mode 100644
index 0000000000000000000000000000000000000000..6681e571074544940dad35c291b6cf9fc57c2baa
GIT binary patch
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HcmV?d00001

diff --git a/lib/pages.dart b/lib/pages.dart
index c76902ee7..cedfdd77d 100644
--- a/lib/pages.dart
+++ b/lib/pages.dart
@@ -45,6 +45,9 @@ class Routes {
 
   /// The name of the logs page.
   static const String logs = "Logs";
+  
+  /// The name of the controllers page
+  static const String controllers = "Controllers";
 
   /// The name of the rocks page.
   static const String rocks = "Rocks";
diff --git a/lib/src/models/rover/controller.dart b/lib/src/models/rover/controller.dart
index ef10d2770..266e4aa5a 100644
--- a/lib/src/models/rover/controller.dart
+++ b/lib/src/models/rover/controller.dart
@@ -98,5 +98,6 @@ class Controller extends Model {
       // print(message.toProto3Json());
       models.messages.sendMessage(message);
     }
+    notifyListeners();
   }
 }
diff --git a/lib/src/pages/controller.dart b/lib/src/pages/controller.dart
new file mode 100644
index 000000000..c21ef37c5
--- /dev/null
+++ b/lib/src/pages/controller.dart
@@ -0,0 +1,333 @@
+import "dart:math";
+
+import "package:flutter/material.dart";
+import "package:rover_dashboard/models.dart";
+import "package:rover_dashboard/src/widgets/generic/reactive_widget.dart";
+import "package:rover_dashboard/widgets.dart";
+
+/// The UI Page to display the controller status
+class ControllersPage extends StatelessWidget {
+  /// The index of this view.
+  final int index;
+
+  List<Controller> get _controllers => [
+        models.rover.controller1,
+        models.rover.controller2,
+        models.rover.controller3,
+      ];
+
+  /// Const constructor for [ControllersPage]
+  const ControllersPage({required this.index, super.key});
+
+  @override
+  Widget build(BuildContext context) {
+    if (!_controllers.any((e) => e.isConnected)) {
+      return const Text("No Controllers are Connected.");
+    }
+
+    return Row(
+      mainAxisAlignment: MainAxisAlignment.center,
+      children: [
+        for (final controller in _controllers)
+          if (controller.isConnected) _ControllerWidget(controller),
+      ],
+    );
+  }
+}
+
+/// Displays data for the provided [Controller]
+class _ControllerWidget extends ReusableReactiveWidget<Controller> {
+  static const Size imageSize = Size(905, 568);
+
+  static const double normalButtonRadius = 40;
+  static const double normalJoystickRadius = 70;
+  static const double joystickMaxOffset = 40;
+
+  static const Offset buttonA = Offset(727, 230);
+  static const Offset buttonB = Offset(784, 173);
+  static const Offset buttonX = Offset(670, 173);
+  static const Offset buttonY = Offset(727, 117);
+
+  static const Offset leftBumper = Offset(186, 16);
+  static const Offset rightBumper = Offset(726, 16);
+
+  static const Offset select = Offset(349, 112);
+  static const Offset start = Offset(558, 112);
+
+  static const Offset dPadUp = Offset(180, 122);
+  static const Offset dPadDown = Offset(180, 221);
+  static const Offset dPadLeft = Offset(125, 175);
+  static const Offset dPadRight = Offset(227, 175);
+
+  static const Offset leftStick = Offset(289, 293);
+  static const Offset rightStick = Offset(618, 293);
+
+  /// Const constructor for Controller Widget
+  const _ControllerWidget(super.model);
+
+  double _getBackgroundFitWidth(Size widgetSize) {
+    final fitWidth = max(widgetSize.width, imageSize.width);
+    final fitHeight = min(widgetSize.height, imageSize.height);
+
+    return min(fitWidth, fitHeight / (imageSize.height / imageSize.width));
+  }
+
+  Offset _getPositionedOffset({
+    required Offset offsetOnImage,
+    required Size widgetSize,
+    double radius = normalButtonRadius,
+  }) {
+    final scaleFactor = _getBackgroundFitWidth(widgetSize) / imageSize.width;
+    final xFromCenter = offsetOnImage.dx - radius / 2;
+    final yFromCenter = offsetOnImage.dy - radius / 2;
+
+    return Offset(xFromCenter, yFromCenter) * scaleFactor;
+  }
+
+  // This can't be its own widget since it has to be embedded into the stack for the position to work
+  Widget _controllerJoystick({
+    required double x,
+    required double y,
+    required Offset offsetOnImage,
+    required Size widgetSize,
+  }) {
+    final scaleFactor = _getBackgroundFitWidth(widgetSize) / imageSize.width;
+
+    final joystickRadius = normalJoystickRadius * scaleFactor;
+    final maxOffset = joystickMaxOffset * scaleFactor;
+
+    final xFromCenter = offsetOnImage.dx - normalJoystickRadius / 2;
+    final yFromCenter = offsetOnImage.dy - normalJoystickRadius / 2;
+
+    return Positioned(
+      left: xFromCenter * scaleFactor + maxOffset * x,
+      top: yFromCenter * scaleFactor + maxOffset * y,
+      child: Container(
+        width: joystickRadius,
+        height: joystickRadius,
+        decoration: BoxDecoration(
+          color: Colors.yellow,
+          borderRadius: BorderRadius.circular(10000),
+        ),
+      ),
+    );
+  }
+
+  @override
+  Widget build(BuildContext context, Controller model) {
+    final renderBox = context.findAncestorRenderObjectOfType<RenderBox>();
+
+    final widgetSize =
+        (renderBox == null || !renderBox.hasSize) ? imageSize : renderBox.size;
+
+    final aOffset = _getPositionedOffset(
+      offsetOnImage: buttonA,
+      widgetSize: widgetSize,
+    );
+    final bOffset = _getPositionedOffset(
+      offsetOnImage: buttonB,
+      widgetSize: widgetSize,
+    );
+    final xOffset = _getPositionedOffset(
+      offsetOnImage: buttonX,
+      widgetSize: widgetSize,
+    );
+    final yOffset = _getPositionedOffset(
+      offsetOnImage: buttonY,
+      widgetSize: widgetSize,
+    );
+    final lbOffset = _getPositionedOffset(
+      offsetOnImage: leftBumper,
+      widgetSize: widgetSize,
+    );
+    final rbOffset = _getPositionedOffset(
+      offsetOnImage: rightBumper,
+      widgetSize: widgetSize,
+    );
+    final startOffset = _getPositionedOffset(
+      offsetOnImage: start,
+      widgetSize: widgetSize,
+    );
+    final selectOffset = _getPositionedOffset(
+      offsetOnImage: select,
+      widgetSize: widgetSize,
+    );
+    final dPadUpOffset = _getPositionedOffset(
+      offsetOnImage: dPadUp,
+      widgetSize: widgetSize,
+    );
+    final dPadDownOffset = _getPositionedOffset(
+      offsetOnImage: dPadDown,
+      widgetSize: widgetSize,
+    );
+    final dPadLeftOffset = _getPositionedOffset(
+      offsetOnImage: dPadLeft,
+      widgetSize: widgetSize,
+    );
+    final dPadRightOffset = _getPositionedOffset(
+      offsetOnImage: dPadRight,
+      widgetSize: widgetSize,
+    );
+
+    final buttonRadius =
+        (_getBackgroundFitWidth(widgetSize) / imageSize.width) *
+            normalButtonRadius;
+
+    final outlineWidth =
+        (_getBackgroundFitWidth(widgetSize) / imageSize.width) * 7.5;
+
+    final state = model.gamepad.getState();
+    return Stack(
+      children: [
+        Image.asset("assets/gamesir_controller.png"),
+        Positioned(
+          left: aOffset.dx,
+          top: aOffset.dy,
+          child: _ControllerButton(
+            value: state?.buttonA ?? false,
+            radius: buttonRadius,
+            outlineWidth: outlineWidth,
+          ),
+        ),
+        Positioned(
+          left: bOffset.dx,
+          top: bOffset.dy,
+          child: _ControllerButton(
+            value: state?.buttonB ?? false,
+            radius: buttonRadius,
+            outlineWidth: outlineWidth,
+          ),
+        ),
+        Positioned(
+          left: xOffset.dx,
+          top: xOffset.dy,
+          child: _ControllerButton(
+            value: state?.buttonX ?? false,
+            radius: buttonRadius,
+            outlineWidth: outlineWidth,
+          ),
+        ),
+        Positioned(
+          left: yOffset.dx,
+          top: yOffset.dy,
+          child: _ControllerButton(
+            value: state?.buttonY ?? false,
+            radius: buttonRadius,
+            outlineWidth: outlineWidth,
+          ),
+        ),
+        Positioned(
+          left: lbOffset.dx,
+          top: lbOffset.dy,
+          child: _ControllerButton(
+            value: state?.leftShoulder ?? false,
+            radius: buttonRadius,
+            outlineWidth: outlineWidth,
+          ),
+        ),
+        Positioned(
+          left: rbOffset.dx,
+          top: rbOffset.dy,
+          child: _ControllerButton(
+            value: state?.rightShoulder ?? false,
+            radius: buttonRadius,
+            outlineWidth: outlineWidth,
+          ),
+        ),
+        Positioned(
+          left: startOffset.dx,
+          top: startOffset.dy,
+          child: _ControllerButton(
+            value: state?.buttonStart ?? false,
+            radius: buttonRadius,
+            outlineWidth: outlineWidth,
+          ),
+        ),
+        Positioned(
+          left: selectOffset.dx,
+          top: selectOffset.dy,
+          child: _ControllerButton(
+            value: state?.buttonBack ?? false,
+            radius: buttonRadius,
+            outlineWidth: outlineWidth,
+          ),
+        ),
+        Positioned(
+          left: dPadUpOffset.dx,
+          top: dPadUpOffset.dy,
+          child: _ControllerButton(
+            value: state?.dpadUp ?? false,
+            radius: buttonRadius,
+            outlineWidth: outlineWidth,
+          ),
+        ),
+        Positioned(
+          left: dPadDownOffset.dx,
+          top: dPadDownOffset.dy,
+          child: _ControllerButton(
+            value: state?.dpadDown ?? false,
+            radius: buttonRadius,
+            outlineWidth: outlineWidth,
+          ),
+        ),
+        Positioned(
+          left: dPadLeftOffset.dx,
+          top: dPadLeftOffset.dy,
+          child: _ControllerButton(
+            value: state?.dpadLeft ?? false,
+            radius: buttonRadius,
+            outlineWidth: outlineWidth,
+          ),
+        ),
+        Positioned(
+          left: dPadRightOffset.dx,
+          top: dPadRightOffset.dy,
+          child: _ControllerButton(
+            value: state?.dpadRight ?? false,
+            radius: buttonRadius,
+            outlineWidth: outlineWidth,
+          ),
+        ),
+        _controllerJoystick(
+          x: state?.normalLeftX ?? 0,
+          y: -1 * (state?.normalLeftY ?? 0),
+          offsetOnImage: leftStick,
+          widgetSize: widgetSize,
+        ),
+        _controllerJoystick(
+          x: state?.normalRightX ?? 0,
+          y: -1 * (state?.normalRightY ?? 0),
+          offsetOnImage: rightStick,
+          widgetSize: widgetSize,
+        ),
+      ],
+    );
+  }
+}
+
+class _ControllerButton extends StatelessWidget {
+  final double radius;
+  final double outlineWidth;
+  final bool value;
+
+  const _ControllerButton({
+    required this.value,
+    required this.radius,
+    required this.outlineWidth,
+    super.key,
+  });
+
+  @override
+  Widget build(BuildContext context) => Container(
+        width: radius,
+        height: radius,
+        decoration: BoxDecoration(
+          color: value ? Colors.yellow : Colors.transparent,
+          shape: BoxShape.circle,
+          border: Border.all(
+            color: Colors.yellow,
+            width: outlineWidth,
+          ),
+        ),
+      );
+}
diff --git a/lib/src/pages/view.dart b/lib/src/pages/view.dart
index df41b66a3..fcca753a6 100644
--- a/lib/src/pages/view.dart
+++ b/lib/src/pages/view.dart
@@ -4,6 +4,7 @@ import "package:flutter/material.dart";
 import "package:rover_dashboard/data.dart";
 import "package:rover_dashboard/models.dart";
 import "package:rover_dashboard/pages.dart";
+import "package:rover_dashboard/src/pages/controller.dart";
 import "package:rover_dashboard/widgets.dart";
 
 /// A function that builds a view of the given index.
@@ -115,6 +116,11 @@ class DashboardView {
       iconFunc: () => Icon(Icons.drive_eta, color: Colors.black.withOpacity(0.5)),
       builder: (context, index) => DrivePage(index: index),
     ),
+    DashboardView(
+      name: Routes.controllers,
+      iconFunc: () => Icon(Icons.sports_esports, color: Colors.black.withOpacity(0.5)),
+      builder: (context, index) => ControllersPage(index: index),
+    ),
     DashboardView(
       name: Routes.rocks,
       iconFunc: () => Icon(Icons.landslide, color: Colors.black.withOpacity(0.5)),
diff --git a/lib/src/services/gamepad/state.dart b/lib/src/services/gamepad/state.dart
index 5f0e1ec74..bd7aa220a 100644
--- a/lib/src/services/gamepad/state.dart
+++ b/lib/src/services/gamepad/state.dart
@@ -106,4 +106,10 @@ class GamepadState {
 
   /// Whether the D-pad's up button is being pressed.
   bool get dpadUp => normalDpadY > 0;
+
+  /// Whether the D-pad's left button is being pressed.
+  bool get dpadLeft => normalDpadX < 0;
+
+  /// Whether the D-pad's right button is being pressed.
+  bool get dpadRight => normalDpadX > 0;
 }

From 1d3e2526299241e2d2b3ef5e445b418626304904 Mon Sep 17 00:00:00 2001
From: Gold87 <91761103+Gold872@users.noreply.github.com>
Date: Wed, 23 Oct 2024 01:02:50 -0400
Subject: [PATCH 02/15] Added dropdown chooser

---
 lib/src/pages/controller.dart | 300 +++++++++++++++++++---------------
 1 file changed, 166 insertions(+), 134 deletions(-)

diff --git a/lib/src/pages/controller.dart b/lib/src/pages/controller.dart
index c21ef37c5..d01e69351 100644
--- a/lib/src/pages/controller.dart
+++ b/lib/src/pages/controller.dart
@@ -6,33 +6,62 @@ import "package:rover_dashboard/src/widgets/generic/reactive_widget.dart";
 import "package:rover_dashboard/widgets.dart";
 
 /// The UI Page to display the controller status
-class ControllersPage extends StatelessWidget {
+class ControllersPage extends StatefulWidget {
   /// The index of this view.
   final int index;
 
-  List<Controller> get _controllers => [
-        models.rover.controller1,
-        models.rover.controller2,
-        models.rover.controller3,
-      ];
-
   /// Const constructor for [ControllersPage]
   const ControllersPage({required this.index, super.key});
 
   @override
-  Widget build(BuildContext context) {
-    if (!_controllers.any((e) => e.isConnected)) {
-      return const Text("No Controllers are Connected.");
-    }
-
-    return Row(
-      mainAxisAlignment: MainAxisAlignment.center,
-      children: [
-        for (final controller in _controllers)
-          if (controller.isConnected) _ControllerWidget(controller),
-      ],
-    );
-  }
+  State<ControllersPage> createState() => _ControllersPageState();
+}
+
+class _ControllersPageState extends State<ControllersPage> {
+  Controller selectedController = models.rover.controller1;
+
+  @override
+  Widget build(BuildContext context) => Column(
+        children: [
+          Row(
+            children: [
+              const Spacer(),
+              const Text("Controller: "),
+              DropdownButton<Controller>(
+                value: selectedController,
+                items: [
+                  DropdownMenuItem(
+                    value: models.rover.controller1,
+                    child: const Text("Controller 1"),
+                  ),
+                  DropdownMenuItem(
+                    value: models.rover.controller2,
+                    child: const Text("Controller 2"),
+                  ),
+                  DropdownMenuItem(
+                    value: models.rover.controller3,
+                    child: const Text("Controller 3"),
+                  ),
+                ],
+                onChanged: (Controller? value) {
+                  if (value == null) {
+                    return;
+                  }
+
+                  setState(() {
+                    selectedController = value;
+                  });
+                },
+              ),
+              const Spacer(),
+              ViewsSelector(index: widget.index),
+            ],
+          ),
+          Expanded(
+            child: Center(child: _ControllerWidget(selectedController)),
+          ),
+        ],
+      );
 }
 
 /// Displays data for the provided [Controller]
@@ -66,8 +95,8 @@ class _ControllerWidget extends ReusableReactiveWidget<Controller> {
   const _ControllerWidget(super.model);
 
   double _getBackgroundFitWidth(Size widgetSize) {
-    final fitWidth = max(widgetSize.width, imageSize.width);
-    final fitHeight = min(widgetSize.height, imageSize.height);
+    final fitWidth = widgetSize.width;
+    final fitHeight = widgetSize.height;
 
     return min(fitWidth, fitHeight / (imageSize.height / imageSize.width));
   }
@@ -177,130 +206,133 @@ class _ControllerWidget extends ReusableReactiveWidget<Controller> {
         (_getBackgroundFitWidth(widgetSize) / imageSize.width) * 7.5;
 
     final state = model.gamepad.getState();
-    return Stack(
-      children: [
-        Image.asset("assets/gamesir_controller.png"),
-        Positioned(
-          left: aOffset.dx,
-          top: aOffset.dy,
-          child: _ControllerButton(
-            value: state?.buttonA ?? false,
-            radius: buttonRadius,
-            outlineWidth: outlineWidth,
+    return Opacity(
+      opacity: model.isConnected ? 1 : 0.50,
+      child: Stack(
+        children: [
+          Image.asset("assets/gamesir_controller.png"),
+          Positioned(
+            left: aOffset.dx,
+            top: aOffset.dy,
+            child: _ControllerButton(
+              value: state?.buttonA ?? false,
+              radius: buttonRadius,
+              outlineWidth: outlineWidth,
+            ),
           ),
-        ),
-        Positioned(
-          left: bOffset.dx,
-          top: bOffset.dy,
-          child: _ControllerButton(
-            value: state?.buttonB ?? false,
-            radius: buttonRadius,
-            outlineWidth: outlineWidth,
+          Positioned(
+            left: bOffset.dx,
+            top: bOffset.dy,
+            child: _ControllerButton(
+              value: state?.buttonB ?? false,
+              radius: buttonRadius,
+              outlineWidth: outlineWidth,
+            ),
           ),
-        ),
-        Positioned(
-          left: xOffset.dx,
-          top: xOffset.dy,
-          child: _ControllerButton(
-            value: state?.buttonX ?? false,
-            radius: buttonRadius,
-            outlineWidth: outlineWidth,
+          Positioned(
+            left: xOffset.dx,
+            top: xOffset.dy,
+            child: _ControllerButton(
+              value: state?.buttonX ?? false,
+              radius: buttonRadius,
+              outlineWidth: outlineWidth,
+            ),
           ),
-        ),
-        Positioned(
-          left: yOffset.dx,
-          top: yOffset.dy,
-          child: _ControllerButton(
-            value: state?.buttonY ?? false,
-            radius: buttonRadius,
-            outlineWidth: outlineWidth,
+          Positioned(
+            left: yOffset.dx,
+            top: yOffset.dy,
+            child: _ControllerButton(
+              value: state?.buttonY ?? false,
+              radius: buttonRadius,
+              outlineWidth: outlineWidth,
+            ),
           ),
-        ),
-        Positioned(
-          left: lbOffset.dx,
-          top: lbOffset.dy,
-          child: _ControllerButton(
-            value: state?.leftShoulder ?? false,
-            radius: buttonRadius,
-            outlineWidth: outlineWidth,
+          Positioned(
+            left: lbOffset.dx,
+            top: lbOffset.dy,
+            child: _ControllerButton(
+              value: state?.leftShoulder ?? false,
+              radius: buttonRadius,
+              outlineWidth: outlineWidth,
+            ),
           ),
-        ),
-        Positioned(
-          left: rbOffset.dx,
-          top: rbOffset.dy,
-          child: _ControllerButton(
-            value: state?.rightShoulder ?? false,
-            radius: buttonRadius,
-            outlineWidth: outlineWidth,
+          Positioned(
+            left: rbOffset.dx,
+            top: rbOffset.dy,
+            child: _ControllerButton(
+              value: state?.rightShoulder ?? false,
+              radius: buttonRadius,
+              outlineWidth: outlineWidth,
+            ),
           ),
-        ),
-        Positioned(
-          left: startOffset.dx,
-          top: startOffset.dy,
-          child: _ControllerButton(
-            value: state?.buttonStart ?? false,
-            radius: buttonRadius,
-            outlineWidth: outlineWidth,
+          Positioned(
+            left: startOffset.dx,
+            top: startOffset.dy,
+            child: _ControllerButton(
+              value: state?.buttonStart ?? false,
+              radius: buttonRadius,
+              outlineWidth: outlineWidth,
+            ),
           ),
-        ),
-        Positioned(
-          left: selectOffset.dx,
-          top: selectOffset.dy,
-          child: _ControllerButton(
-            value: state?.buttonBack ?? false,
-            radius: buttonRadius,
-            outlineWidth: outlineWidth,
+          Positioned(
+            left: selectOffset.dx,
+            top: selectOffset.dy,
+            child: _ControllerButton(
+              value: state?.buttonBack ?? false,
+              radius: buttonRadius,
+              outlineWidth: outlineWidth,
+            ),
           ),
-        ),
-        Positioned(
-          left: dPadUpOffset.dx,
-          top: dPadUpOffset.dy,
-          child: _ControllerButton(
-            value: state?.dpadUp ?? false,
-            radius: buttonRadius,
-            outlineWidth: outlineWidth,
+          Positioned(
+            left: dPadUpOffset.dx,
+            top: dPadUpOffset.dy,
+            child: _ControllerButton(
+              value: state?.dpadUp ?? false,
+              radius: buttonRadius,
+              outlineWidth: outlineWidth,
+            ),
           ),
-        ),
-        Positioned(
-          left: dPadDownOffset.dx,
-          top: dPadDownOffset.dy,
-          child: _ControllerButton(
-            value: state?.dpadDown ?? false,
-            radius: buttonRadius,
-            outlineWidth: outlineWidth,
+          Positioned(
+            left: dPadDownOffset.dx,
+            top: dPadDownOffset.dy,
+            child: _ControllerButton(
+              value: state?.dpadDown ?? false,
+              radius: buttonRadius,
+              outlineWidth: outlineWidth,
+            ),
           ),
-        ),
-        Positioned(
-          left: dPadLeftOffset.dx,
-          top: dPadLeftOffset.dy,
-          child: _ControllerButton(
-            value: state?.dpadLeft ?? false,
-            radius: buttonRadius,
-            outlineWidth: outlineWidth,
+          Positioned(
+            left: dPadLeftOffset.dx,
+            top: dPadLeftOffset.dy,
+            child: _ControllerButton(
+              value: state?.dpadLeft ?? false,
+              radius: buttonRadius,
+              outlineWidth: outlineWidth,
+            ),
           ),
-        ),
-        Positioned(
-          left: dPadRightOffset.dx,
-          top: dPadRightOffset.dy,
-          child: _ControllerButton(
-            value: state?.dpadRight ?? false,
-            radius: buttonRadius,
-            outlineWidth: outlineWidth,
+          Positioned(
+            left: dPadRightOffset.dx,
+            top: dPadRightOffset.dy,
+            child: _ControllerButton(
+              value: state?.dpadRight ?? false,
+              radius: buttonRadius,
+              outlineWidth: outlineWidth,
+            ),
           ),
-        ),
-        _controllerJoystick(
-          x: state?.normalLeftX ?? 0,
-          y: -1 * (state?.normalLeftY ?? 0),
-          offsetOnImage: leftStick,
-          widgetSize: widgetSize,
-        ),
-        _controllerJoystick(
-          x: state?.normalRightX ?? 0,
-          y: -1 * (state?.normalRightY ?? 0),
-          offsetOnImage: rightStick,
-          widgetSize: widgetSize,
-        ),
-      ],
+          _controllerJoystick(
+            x: state?.normalLeftX ?? 0,
+            y: -1 * (state?.normalLeftY ?? 0),
+            offsetOnImage: leftStick,
+            widgetSize: widgetSize,
+          ),
+          _controllerJoystick(
+            x: state?.normalRightX ?? 0,
+            y: -1 * (state?.normalRightY ?? 0),
+            offsetOnImage: rightStick,
+            widgetSize: widgetSize,
+          ),
+        ],
+      ),
     );
   }
 }

From 42c8017d10b05e4be517e6abfe6bd5aea68f3b8e Mon Sep 17 00:00:00 2001
From: Gold87 <91761103+Gold872@users.noreply.github.com>
Date: Wed, 23 Oct 2024 01:05:46 -0400
Subject: [PATCH 03/15] Some cleanup

---
 lib/src/pages/controller.dart | 12 ++++++------
 1 file changed, 6 insertions(+), 6 deletions(-)

diff --git a/lib/src/pages/controller.dart b/lib/src/pages/controller.dart
index d01e69351..888dbf496 100644
--- a/lib/src/pages/controller.dart
+++ b/lib/src/pages/controller.dart
@@ -89,11 +89,14 @@ class _ControllerWidget extends ReusableReactiveWidget<Controller> {
   static const Offset dPadRight = Offset(227, 175);
 
   static const Offset leftStick = Offset(289, 293);
-  static const Offset rightStick = Offset(618, 293);
+  static const Offset rightStick = Offset(616, 293);
 
   /// Const constructor for Controller Widget
   const _ControllerWidget(super.model);
 
+  double _getScaledValue(double normalValue, Size widgetSize) =>
+      (_getBackgroundFitWidth(widgetSize) / imageSize.width) * normalValue;
+
   double _getBackgroundFitWidth(Size widgetSize) {
     final fitWidth = widgetSize.width;
     final fitHeight = widgetSize.height;
@@ -198,12 +201,9 @@ class _ControllerWidget extends ReusableReactiveWidget<Controller> {
       widgetSize: widgetSize,
     );
 
-    final buttonRadius =
-        (_getBackgroundFitWidth(widgetSize) / imageSize.width) *
-            normalButtonRadius;
+    final buttonRadius = _getScaledValue(normalButtonRadius, widgetSize);
 
-    final outlineWidth =
-        (_getBackgroundFitWidth(widgetSize) / imageSize.width) * 7.5;
+    final outlineWidth = _getScaledValue(7.5, widgetSize);
 
     final state = model.gamepad.getState();
     return Opacity(

From a2984e3b03c26f7775aeb4509419622c042c1eed Mon Sep 17 00:00:00 2001
From: Gold87 <91761103+Gold872@users.noreply.github.com>
Date: Wed, 23 Oct 2024 01:21:12 -0400
Subject: [PATCH 04/15] Moved controllers view to top of list

---
 lib/src/pages/view.dart | 10 +++++-----
 1 file changed, 5 insertions(+), 5 deletions(-)

diff --git a/lib/src/pages/view.dart b/lib/src/pages/view.dart
index fcca753a6..80191b35b 100644
--- a/lib/src/pages/view.dart
+++ b/lib/src/pages/view.dart
@@ -91,6 +91,11 @@ class DashboardView {
 
   /// A list of views that represent all non-camera feeds.
   static final List<DashboardView> uiViews = [
+    DashboardView(
+      name: Routes.controllers,
+      iconFunc: () => Icon(Icons.sports_esports, color: Colors.black.withOpacity(0.5)),
+      builder: (context, index) => ControllersPage(index: index),
+    ),
     DashboardView(
       name: Routes.science,
       iconFunc: () => Icon(Icons.science, color: Colors.black.withOpacity(0.5)),
@@ -116,11 +121,6 @@ class DashboardView {
       iconFunc: () => Icon(Icons.drive_eta, color: Colors.black.withOpacity(0.5)),
       builder: (context, index) => DrivePage(index: index),
     ),
-    DashboardView(
-      name: Routes.controllers,
-      iconFunc: () => Icon(Icons.sports_esports, color: Colors.black.withOpacity(0.5)),
-      builder: (context, index) => ControllersPage(index: index),
-    ),
     DashboardView(
       name: Routes.rocks,
       iconFunc: () => Icon(Icons.landslide, color: Colors.black.withOpacity(0.5)),

From 276ef0a8886d72888da5af87b123611f48e32b6a Mon Sep 17 00:00:00 2001
From: Gold87 <91761103+Gold872@users.noreply.github.com>
Date: Wed, 23 Oct 2024 01:21:19 -0400
Subject: [PATCH 05/15] Fixed weird size scaling bug

---
 lib/src/pages/controller.dart | 11 ++++++++---
 1 file changed, 8 insertions(+), 3 deletions(-)

diff --git a/lib/src/pages/controller.dart b/lib/src/pages/controller.dart
index 888dbf496..c4b941307 100644
--- a/lib/src/pages/controller.dart
+++ b/lib/src/pages/controller.dart
@@ -98,8 +98,13 @@ class _ControllerWidget extends ReusableReactiveWidget<Controller> {
       (_getBackgroundFitWidth(widgetSize) / imageSize.width) * normalValue;
 
   double _getBackgroundFitWidth(Size widgetSize) {
-    final fitWidth = widgetSize.width;
-    final fitHeight = widgetSize.height;
+    var fitWidth = widgetSize.width;
+    var fitHeight = widgetSize.height;
+
+    if (imageSize.width < widgetSize.width) {
+      fitWidth = imageSize.width;
+      fitHeight = imageSize.height;
+    }
 
     return min(fitWidth, fitHeight / (imageSize.height / imageSize.width));
   }
@@ -210,7 +215,7 @@ class _ControllerWidget extends ReusableReactiveWidget<Controller> {
       opacity: model.isConnected ? 1 : 0.50,
       child: Stack(
         children: [
-          Image.asset("assets/gamesir_controller.png"),
+          Image.asset("assets/gamesir_controller.png", fit: BoxFit.contain),
           Positioned(
             left: aOffset.dx,
             top: aOffset.dy,

From c26a7a211c853bdb9709e8af5884d70409928e0b Mon Sep 17 00:00:00 2001
From: Gold87 <91761103+Gold872@users.noreply.github.com>
Date: Wed, 23 Oct 2024 16:41:49 -0400
Subject: [PATCH 06/15] Added triggers and padding

---
 lib/src/pages/controller.dart       | 75 ++++++++++++++++++++++++++---
 lib/src/services/gamepad/sdl.dart   |  2 +
 lib/src/services/gamepad/state.dart |  8 +++
 3 files changed, 79 insertions(+), 6 deletions(-)

diff --git a/lib/src/pages/controller.dart b/lib/src/pages/controller.dart
index c4b941307..699571d4f 100644
--- a/lib/src/pages/controller.dart
+++ b/lib/src/pages/controller.dart
@@ -2,7 +2,6 @@
 
 import "package:flutter/material.dart";
 import "package:rover_dashboard/models.dart";
-import "package:rover_dashboard/src/widgets/generic/reactive_widget.dart";
 import "package:rover_dashboard/widgets.dart";
 
 /// The UI Page to display the controller status
@@ -58,7 +57,12 @@ class _ControllersPageState extends State<ControllersPage> {
             ],
           ),
           Expanded(
-            child: Center(child: _ControllerWidget(selectedController)),
+            child: Padding(
+              padding: const EdgeInsets.all(10),
+              child: Center(
+                child: _ControllerWidget(selectedController),
+              ),
+            ),
           ),
         ],
       );
@@ -71,6 +75,9 @@ class _ControllerWidget extends ReusableReactiveWidget<Controller> {
   static const double normalButtonRadius = 40;
   static const double normalJoystickRadius = 70;
   static const double joystickMaxOffset = 40;
+  static const double normalTriggerWidth = 30;
+  static const double normalTriggerHeight = 80;
+  static const double normalTriggerOutline = 10;
 
   static const Offset buttonA = Offset(727, 230);
   static const Offset buttonB = Offset(784, 173);
@@ -80,6 +87,9 @@ class _ControllerWidget extends ReusableReactiveWidget<Controller> {
   static const Offset leftBumper = Offset(186, 16);
   static const Offset rightBumper = Offset(726, 16);
 
+  static const Offset leftTrigger = Offset(40, 35);
+  static const Offset rightTrigger = Offset(872, 35);
+
   static const Offset select = Offset(349, 112);
   static const Offset start = Offset(558, 112);
 
@@ -88,8 +98,8 @@ class _ControllerWidget extends ReusableReactiveWidget<Controller> {
   static const Offset dPadLeft = Offset(125, 175);
   static const Offset dPadRight = Offset(227, 175);
 
-  static const Offset leftStick = Offset(289, 293);
-  static const Offset rightStick = Offset(616, 293);
+  static const Offset leftStick = Offset(289, 295);
+  static const Offset rightStick = Offset(616, 295);
 
   /// Const constructor for Controller Widget
   const _ControllerWidget(super.model);
@@ -101,7 +111,8 @@ class _ControllerWidget extends ReusableReactiveWidget<Controller> {
     var fitWidth = widgetSize.width;
     var fitHeight = widgetSize.height;
 
-    if (imageSize.width < widgetSize.width) {
+    if (imageSize.width < widgetSize.width &&
+        imageSize.height < widgetSize.height) {
       fitWidth = imageSize.width;
       fitHeight = imageSize.height;
     }
@@ -150,6 +161,35 @@ class _ControllerWidget extends ReusableReactiveWidget<Controller> {
     );
   }
 
+  Widget _analogTrigger({
+    required double value,
+    required Size widgetSize,
+  }) {
+    final scaleFactor = _getBackgroundFitWidth(widgetSize) / imageSize.width;
+
+    final triggerWidth = normalTriggerWidth * scaleFactor;
+    final triggerHeight = normalTriggerHeight * scaleFactor;
+    final borderWidth = normalTriggerOutline * scaleFactor;
+
+    return Container(
+      width: triggerWidth,
+      height: triggerHeight,
+      alignment: Alignment.bottomCenter,
+      decoration: BoxDecoration(
+        border: Border.all(
+          color: Colors.yellow,
+          width: borderWidth,
+          strokeAlign: BorderSide.strokeAlignOutside,
+        ),
+      ),
+      child: Container(
+        width: triggerWidth,
+        height: value * triggerHeight,
+        color: Colors.yellow,
+      ),
+    );
+  }
+
   @override
   Widget build(BuildContext context, Controller model) {
     final renderBox = context.findAncestorRenderObjectOfType<RenderBox>();
@@ -181,6 +221,14 @@ class _ControllerWidget extends ReusableReactiveWidget<Controller> {
       offsetOnImage: rightBumper,
       widgetSize: widgetSize,
     );
+    final ltOffset = _getPositionedOffset(
+      offsetOnImage: leftTrigger,
+      widgetSize: widgetSize,
+    );
+    final rtOffset = _getPositionedOffset(
+      offsetOnImage: rightTrigger,
+      widgetSize: widgetSize,
+    );
     final startOffset = _getPositionedOffset(
       offsetOnImage: start,
       widgetSize: widgetSize,
@@ -270,6 +318,22 @@ class _ControllerWidget extends ReusableReactiveWidget<Controller> {
               outlineWidth: outlineWidth,
             ),
           ),
+          Positioned(
+            left: ltOffset.dx,
+            top: ltOffset.dy,
+            child: _analogTrigger(
+              value: state?.normalLeftTrigger ?? 0,
+              widgetSize: widgetSize,
+            ),
+          ),
+          Positioned(
+            left: rtOffset.dx,
+            top: rtOffset.dy,
+            child: _analogTrigger(
+              value: state?.normalRightTrigger ?? 0,
+              widgetSize: widgetSize,
+            ),
+          ),
           Positioned(
             left: startOffset.dx,
             top: startOffset.dy,
@@ -351,7 +415,6 @@ class _ControllerButton extends StatelessWidget {
     required this.value,
     required this.radius,
     required this.outlineWidth,
-    super.key,
   });
 
   @override
diff --git a/lib/src/services/gamepad/sdl.dart b/lib/src/services/gamepad/sdl.dart
index 97aaa020d..2fb210e3d 100644
--- a/lib/src/services/gamepad/sdl.dart
+++ b/lib/src/services/gamepad/sdl.dart
@@ -51,6 +51,8 @@ class DesktopGamepad extends Gamepad {
       normalRightY: -state.normalRightJoystickY,
       normalShoulder: state.normalShoulders.toDouble(),
       normalTrigger: state.normalTriggers,
+      normalLeftTrigger: state.normalLeftTrigger,
+      normalRightTrigger: state.normalRightTrigger,
     );
   }
 }
diff --git a/lib/src/services/gamepad/state.dart b/lib/src/services/gamepad/state.dart
index bd7aa220a..10f7d6212 100644
--- a/lib/src/services/gamepad/state.dart
+++ b/lib/src/services/gamepad/state.dart
@@ -56,6 +56,12 @@ class GamepadState {
   /// A normalized reading of the triggers.
   final double normalTrigger;
 
+  /// A normalized reading of the left trigger
+  final double normalLeftTrigger;
+
+  /// A normalized reading of the right trigger
+  final double normalRightTrigger;
+
   /// A normalized reading of the shoulder buttons.
   final double normalShoulder;
 
@@ -86,6 +92,8 @@ class GamepadState {
     required this.buttonBack,
     required this.buttonStart,
     required this.normalTrigger,
+    required this.normalLeftTrigger,
+    required this.normalRightTrigger,
     required this.normalShoulder,
     required this.normalLeftX,
     required this.normalLeftY,

From 20bfb109dc7004af6ec05813250bae367a414ec0 Mon Sep 17 00:00:00 2001
From: Gold87 <91761103+Gold872@users.noreply.github.com>
Date: Tue, 29 Oct 2024 18:43:02 -0400
Subject: [PATCH 07/15] Made GamepadState a typedef around sdl.GamepadState

---
 lib/src/models/rover/controls/arm.dart        |  14 +--
 lib/src/models/rover/controls/camera.dart     |   2 +-
 .../models/rover/controls/modern_drive.dart   |   4 +-
 lib/src/models/rover/controls/tank_drive.dart |   2 +-
 lib/src/pages/controller.dart                 |   1 +
 lib/src/services/gamepad/sdl.dart             |  24 +----
 lib/src/services/gamepad/state.dart           | 101 +++---------------
 7 files changed, 28 insertions(+), 120 deletions(-)

diff --git a/lib/src/models/rover/controls/arm.dart b/lib/src/models/rover/controls/arm.dart
index bba27ef8f..d1c70c325 100644
--- a/lib/src/models/rover/controls/arm.dart
+++ b/lib/src/models/rover/controls/arm.dart
@@ -38,21 +38,21 @@ class ArmControls extends RoverControls {
 	@override
 	List<Message> parseInputs(GamepadState state) => [
     // Manual control
-    if (state.normalRightX.abs() > state.normalRightY.abs() && state.normalRightX != 0) 
+    if (state.normalRightX.abs() > state.normalRightJoystickY.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.normalRightJoystickY.abs() > state.normalRightX.abs() && state.normalRightJoystickY != 0) 
+      ArmCommand(shoulder: MotorCommand(moveRadians: state.normalRightJoystickY * 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),
+    if (state.normalShoulders != 0) ArmCommand(
+      shoulder: MotorCommand(moveRadians: state.normalShoulders * settings.shoulder * -1),
+      elbow: MotorCommand(moveRadians: state.normalShoulders * 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)),
+		if (state.normalTriggers != 0) GripperCommand(pinch: MotorCommand(moveRadians: state.normalTriggers * settings.pinch)),
 
 		// Custom actions
 		if (state.buttonA && !isAPressed) () { isAPressed = true; return GripperCommand(open: true); }(),
diff --git a/lib/src/models/rover/controls/camera.dart b/lib/src/models/rover/controls/camera.dart
index d729e208b..25b10b668 100644
--- a/lib/src/models/rover/controls/camera.dart
+++ b/lib/src/models/rover/controls/camera.dart
@@ -44,7 +44,7 @@ class CameraControls extends RoverControls {
     final newFrontSwivel = state.normalLeftX;
     final newFrontTilt = state.normalLeftY;
     final newRearSwivel = state.normalRightX;
-    final newRearTilt = -1 * state.normalRightY;
+    final newRearTilt = -1 * state.normalRightJoystickY;
     if (newFrontSwivel.abs() >= 0.05 || newFrontTilt.abs() >= 0.05) {
       // Update the front camera. Now, choose which axis
       if (newFrontSwivel.abs() > newFrontTilt.abs()) {
diff --git a/lib/src/models/rover/controls/modern_drive.dart b/lib/src/models/rover/controls/modern_drive.dart
index 8b4b8d744..d582c2518 100644
--- a/lib/src/models/rover/controls/modern_drive.dart
+++ b/lib/src/models/rover/controls/modern_drive.dart
@@ -50,7 +50,7 @@ class ModernDriveControls extends RoverControls {
 
   /// Gets all commands for the wheels based on the gamepad state.
   List<DriveCommand> getWheelCommands(GamepadState state) {
-    final speed = state.normalTrigger;  // sum of both triggers, [-1, 1]
+    final speed = state.normalTriggers;  // sum of both triggers, [-1, 1]
     if (speed == 0) {
       final left = state.normalLeftX;
       final right = state.normalLeftX;
@@ -99,7 +99,7 @@ class ModernDriveControls extends RoverControls {
     final newFrontSwivel = state.normalDpadX;
     final newFrontTilt = state.normalDpadY;
     final newRearSwivel = state.normalRightX;
-    final newRearTilt = state.normalRightY;
+    final newRearTilt = state.normalRightJoystickY;
     if (newFrontSwivel.abs() >= 0.05 || newFrontTilt.abs() >= 0.05) {
       // Update the front camera. Now, choose which axis
       if (newFrontSwivel.abs() > newFrontTilt.abs()) {
diff --git a/lib/src/models/rover/controls/tank_drive.dart b/lib/src/models/rover/controls/tank_drive.dart
index 1acbce2eb..6bbe0fd2e 100644
--- a/lib/src/models/rover/controls/tank_drive.dart
+++ b/lib/src/models/rover/controls/tank_drive.dart
@@ -30,7 +30,7 @@ class DriveControls extends RoverControls {
   List<Message> parseInputs(GamepadState state) => [
     DriveCommand(throttle: throttle, setThrottle: true),
     DriveCommand(setLeft: true, left: state.normalLeftY),
-    DriveCommand(setRight: true, right: -1*state.normalRightY),
+    DriveCommand(setRight: true, right: -1*state.normalRightJoystickY),
   ];
 
   @override
diff --git a/lib/src/pages/controller.dart b/lib/src/pages/controller.dart
index 699571d4f..9b373d638 100644
--- a/lib/src/pages/controller.dart
+++ b/lib/src/pages/controller.dart
@@ -2,6 +2,7 @@
 
 import "package:flutter/material.dart";
 import "package:rover_dashboard/models.dart";
+import "package:rover_dashboard/services.dart";
 import "package:rover_dashboard/widgets.dart";
 
 /// The UI Page to display the controller status
diff --git a/lib/src/services/gamepad/sdl.dart b/lib/src/services/gamepad/sdl.dart
index 2fb210e3d..bf43d3ed9 100644
--- a/lib/src/services/gamepad/sdl.dart
+++ b/lib/src/services/gamepad/sdl.dart
@@ -32,27 +32,5 @@ class DesktopGamepad extends Gamepad {
   bool get isConnected => _sdl.isConnected;
 
   @override
-  GamepadState getState() {
-    final state = _sdl.getState();
-    return GamepadState(
-      buttonA: state.buttonA,
-      buttonB: state.buttonB,
-      buttonX: state.buttonX,
-      buttonY: state.buttonY,
-      buttonBack: state.buttonBack,
-      buttonStart: state.buttonStart,
-      normalDpadX: state.normalDpadX.toDouble(),
-      normalDpadY: state.normalDpadY.toDouble(),
-      normalLeftX: state.normalLeftJoystickX,
-      // These Y values are flipped because sdl_gamepad follows the standard convention,
-      // where positive means the joystick is moving towards the user (down).
-      normalLeftY: -state.normalLeftJoystickY,
-      normalRightX: state.normalRightJoystickX,
-      normalRightY: -state.normalRightJoystickY,
-      normalShoulder: state.normalShoulders.toDouble(),
-      normalTrigger: state.normalTriggers,
-      normalLeftTrigger: state.normalLeftTrigger,
-      normalRightTrigger: state.normalRightTrigger,
-    );
-  }
+  GamepadState getState() => _sdl.getState();
 }
diff --git a/lib/src/services/gamepad/state.dart b/lib/src/services/gamepad/state.dart
index 10f7d6212..6fafdce3e 100644
--- a/lib/src/services/gamepad/state.dart
+++ b/lib/src/services/gamepad/state.dart
@@ -1,3 +1,5 @@
+import "package:flutter_sdl_gamepad/flutter_sdl_gamepad.dart" as sdl;
+
 /// The battery level of a gamepad.
 enum GamepadBatteryLevel {
   /// The battery is running low.
@@ -26,98 +28,25 @@ enum GamepadBatteryLevel {
 
 /// The complete state of a gamepad.
 ///
-/// A "normal" value means a value that is linked to two buttons. For example, both triggers
-/// contribute to the [normalTrigger] value, so if the left was pressed less than the right,
-/// the "normalized" result would be a small positive value. In general, the normal values range
-/// from -1.0 to +1.0, inclusive, with -1 meaning all the way to one side, +1 to the other, and
-/// 0 indicates that neither button is pressed.
-///
-/// For digital buttons, a normalized value will only ever be -1, 0, or +1. For analog inputs,
-/// including pressure-sensitive triggers, the value will be in the range [-1.0, +1.0].
-class GamepadState {
-  /// Whether the A button was pressed.
-  final bool buttonA;
-
-  /// Whether the B button was pressed.
-  final bool buttonB;
-
-  /// Whether the X button was pressed.
-  final bool buttonX;
-
-  /// Whether the Y button was pressed.
-  final bool buttonY;
-
-  /// Whether the Back or Select button was pressed.
-  final bool buttonBack;
-
-  /// Whether the Start or Options button was pressed.
-  final bool buttonStart;
-
-  /// A normalized reading of the triggers.
-  final double normalTrigger;
-
-  /// A normalized reading of the left trigger
-  final double normalLeftTrigger;
-
-  /// A normalized reading of the right trigger
-  final double normalRightTrigger;
-
-  /// A normalized reading of the shoulder buttons.
-  final double normalShoulder;
+/// Acts as a wrapper around [sdl.GamepadState] to allow backwards compatibility with older
+/// rover gamepad APIs
+typedef GamepadState = sdl.GamepadState;
 
+/// An extension on [GamepadState] to allow for backwards compatibility with
+/// the rover joystick direction system
+extension RoverGamepadState on GamepadState {
   /// A normalized reading of the left joystick's X-axis.
-  final double normalLeftX;
+  double get normalLeftX => normalLeftJoystickX;
 
   /// A normalized reading of the left joystick's Y-axis.
-  final double normalLeftY;
-
-  /// A normalized reading of the right joystick's X-axis.
-  final double normalRightX;
+  double get normalLeftY => -normalLeftJoystickY;
 
   /// A normalized reading of the right joystick's X-axis.
-  final double normalRightY;
-
-  /// A normalized reading of the D-pad's X-axis.
-  final double normalDpadX;
-
-  /// A normalized reading of the D-pad's X-axis.
-  final double normalDpadY;
-
-  /// Creates a new representation of the gamepad state.
-  const GamepadState({
-    required this.buttonA,
-    required this.buttonB,
-    required this.buttonX,
-    required this.buttonY,
-    required this.buttonBack,
-    required this.buttonStart,
-    required this.normalTrigger,
-    required this.normalLeftTrigger,
-    required this.normalRightTrigger,
-    required this.normalShoulder,
-    required this.normalLeftX,
-    required this.normalLeftY,
-    required this.normalRightX,
-    required this.normalRightY,
-    required this.normalDpadX,
-    required this.normalDpadY,
-  });
+  double get normalRightX => normalRightJoystickX;
 
-  /// Whether the left shoulder is being pressed.
-  bool get leftShoulder => normalShoulder < 0;
+  /// A normalized reading of the right joystick's Y-axis.
+  double get normalRightY => -normalRightJoystickY;
 
-  /// Whether the right shoulder is being pressed.
-  bool get rightShoulder => normalShoulder > 0;
-
-  /// Whether the D-pad's down button is being pressed.
-  bool get dpadDown => normalDpadY < 0;
-
-  /// Whether the D-pad's up button is being pressed.
-  bool get dpadUp => normalDpadY > 0;
-
-  /// Whether the D-pad's left button is being pressed.
-  bool get dpadLeft => normalDpadX < 0;
-
-  /// Whether the D-pad's right button is being pressed.
-  bool get dpadRight => normalDpadX > 0;
+  /// A normalized reading of the shoulder buttons.
+  double get normalShoulder => normalShoulders.toDouble();
 }

From 548454cd6b056c370d29e85349c17d2996855108 Mon Sep 17 00:00:00 2001
From: Levi Lesches <levilesches@gmail.com>
Date: Wed, 30 Oct 2024 07:32:00 -0400
Subject: [PATCH 08/15] Fixed: ReusableReactiveWidget wouldn't update when
 model is switched

---
 lib/src/widgets/generic/reactive_widget.dart | 26 ++++++++++++++------
 1 file changed, 18 insertions(+), 8 deletions(-)

diff --git a/lib/src/widgets/generic/reactive_widget.dart b/lib/src/widgets/generic/reactive_widget.dart
index 3b28466ee..619020974 100644
--- a/lib/src/widgets/generic/reactive_widget.dart
+++ b/lib/src/widgets/generic/reactive_widget.dart
@@ -1,7 +1,7 @@
 import "package:flutter/material.dart";
 
-/// A widget that listens to a [ChangeNotifier] (called the view model) and updates when it does. 
-/// 
+/// A widget that listens to a [ChangeNotifier] (called the view model) and updates when it does.
+///
 /// - If you're listening to an existing view model, use [ReusableReactiveWidget].
 /// - If you're listening to a view model created by this widget, use [ReactiveWidget].
 abstract class ReactiveWidgetInterface<T extends ChangeNotifier> extends StatefulWidget {
@@ -9,8 +9,8 @@ abstract class ReactiveWidgetInterface<T extends ChangeNotifier> extends Statefu
   const ReactiveWidgetInterface({super.key});
   /// Creates the view model. This is only called once in the widget's lifetime.
   T createModel();
-  /// Whether this widget should dispose the model after it's destroyed. 
-  /// 
+  /// Whether this widget should dispose the model after it's destroyed.
+  ///
   /// Normally, we want the widget to clean up after itself and dispose its view model. But it's
   /// also common for one view model to create and depend on another model. In this case, if we
   /// are listening to the sub-model, we don't want to dispose it while the parent model is still
@@ -23,8 +23,8 @@ abstract class ReactiveWidgetInterface<T extends ChangeNotifier> extends Statefu
   /// Builds the UI according to the state in [model].
 	Widget build(BuildContext context, T model);
 
-  /// This function gives you an opportunity to update the view model when the widget updates. 
-  /// 
+  /// This function gives you an opportunity to update the view model when the widget updates.
+  ///
   /// For more details, see [State.didUpdateWidget].
   @mustCallSuper
   void didUpdateWidget(covariant ReactiveWidgetInterface<T> oldWidget, T model) { }
@@ -43,7 +43,7 @@ abstract class ReactiveWidget<T extends ChangeNotifier> extends ReactiveWidgetIn
   bool get shouldDispose => true;
 }
 
-/// A [ReactiveWidgetInterface] that "borrows" a view model and does not dispose of it. 
+/// A [ReactiveWidgetInterface] that "borrows" a view model and does not dispose of it.
 abstract class ReusableReactiveWidget<T extends ChangeNotifier> extends ReactiveWidgetInterface<T> {
   /// The model to borrow.
   final T model;
@@ -60,7 +60,7 @@ abstract class ReusableReactiveWidget<T extends ChangeNotifier> extends Reactive
 /// A state for [ReactiveWidget] that manages the [model].
 class ReactiveWidgetState<T extends ChangeNotifier> extends State<ReactiveWidgetInterface<T>>{
 	/// The model to listen to.
-	late final T model;
+	late T model;
 
 	@override
 	void initState() {
@@ -79,6 +79,16 @@ class ReactiveWidgetState<T extends ChangeNotifier> extends State<ReactiveWidget
   @override
   void didUpdateWidget(covariant ReactiveWidgetInterface<T> oldWidget) {
     widget.didUpdateWidget(oldWidget, model);
+    if (oldWidget is ReusableReactiveWidget<T> && widget is ReusableReactiveWidget<T>) {
+      final newModel = (widget as ReusableReactiveWidget<T>).model;
+      if (model != newModel) {
+        // Stop listening to the old one, listen to the new one.
+        // Don't dispose of the old one since it's reusable.
+        model.removeListener(listener);
+        model = newModel;
+        model.addListener(listener);
+      }
+    }
     super.didUpdateWidget(oldWidget);
   }
 

From 509835dad42c3bd3f8902fdb993e79c273cf8502 Mon Sep 17 00:00:00 2001
From: Levi Lesches <levilesches@gmail.com>
Date: Wed, 30 Oct 2024 07:32:13 -0400
Subject: [PATCH 09/15] Formatting and compactness

---
 lib/src/pages/controller.dart | 288 +++++++++++++---------------------
 1 file changed, 105 insertions(+), 183 deletions(-)

diff --git a/lib/src/pages/controller.dart b/lib/src/pages/controller.dart
index 9b373d638..dfd4205e9 100644
--- a/lib/src/pages/controller.dart
+++ b/lib/src/pages/controller.dart
@@ -20,55 +20,62 @@ class ControllersPage extends StatefulWidget {
 class _ControllersPageState extends State<ControllersPage> {
   Controller selectedController = models.rover.controller1;
 
+  void _setController(Controller? value) {
+    if (value == null) return;
+    setState(() => selectedController = value);
+  }
+
   @override
   Widget build(BuildContext context) => Column(
+    children: [
+      const SizedBox(height: 16),
+      Row(
         children: [
-          Row(
-            children: [
-              const Spacer(),
-              const Text("Controller: "),
-              DropdownButton<Controller>(
-                value: selectedController,
-                items: [
-                  DropdownMenuItem(
-                    value: models.rover.controller1,
-                    child: const Text("Controller 1"),
-                  ),
-                  DropdownMenuItem(
-                    value: models.rover.controller2,
-                    child: const Text("Controller 2"),
-                  ),
-                  DropdownMenuItem(
-                    value: models.rover.controller3,
-                    child: const Text("Controller 3"),
-                  ),
-                ],
-                onChanged: (Controller? value) {
-                  if (value == null) {
-                    return;
-                  }
-
-                  setState(() {
-                    selectedController = value;
-                  });
-                },
+          const Spacer(),
+          const Text("Controller: "),
+          DropdownButton<Controller>(
+            value: selectedController,
+            onChanged: _setController,
+            items: [
+              DropdownMenuItem(
+                value: models.rover.controller1,
+                child: const Text("Controller 1"),
+              ),
+              DropdownMenuItem(
+                value: models.rover.controller2,
+                child: const Text("Controller 2"),
+              ),
+              DropdownMenuItem(
+                value: models.rover.controller3,
+                child: const Text("Controller 3"),
               ),
-              const Spacer(),
-              ViewsSelector(index: widget.index),
             ],
           ),
-          Expanded(
-            child: Padding(
-              padding: const EdgeInsets.all(10),
-              child: Center(
-                child: _ControllerWidget(selectedController),
-              ),
-            ),
+          const SizedBox(width: 8),
+          FilledButton(
+            onPressed: selectedController.isConnected
+              ? selectedController.gamepad.pulse : null,
+            child: const Text("Vibrate"),
           ),
+          const Spacer(),
+          ViewsSelector(index: widget.index),
         ],
-      );
+      ),
+      Expanded(
+        child: Padding(
+          padding: const EdgeInsets.all(10),
+          child: Center(
+            child: _ControllerWidget(selectedController),
+          ),
+        ),
+      ),
+    ],
+  );
 }
 
+/// The color to fill in all gamepad buttons with.
+const gamepadColor = Colors.blue;
+
 /// Displays data for the provided [Controller]
 class _ControllerWidget extends ReusableReactiveWidget<Controller> {
   static const Size imageSize = Size(905, 568);
@@ -106,14 +113,13 @@ class _ControllerWidget extends ReusableReactiveWidget<Controller> {
   const _ControllerWidget(super.model);
 
   double _getScaledValue(double normalValue, Size widgetSize) =>
-      (_getBackgroundFitWidth(widgetSize) / imageSize.width) * normalValue;
+    (_getBackgroundFitWidth(widgetSize) / imageSize.width) * normalValue;
 
   double _getBackgroundFitWidth(Size widgetSize) {
     var fitWidth = widgetSize.width;
     var fitHeight = widgetSize.height;
 
-    if (imageSize.width < widgetSize.width &&
-        imageSize.height < widgetSize.height) {
+    if (imageSize.width < widgetSize.width && imageSize.height < widgetSize.height) {
       fitWidth = imageSize.width;
       fitHeight = imageSize.height;
     }
@@ -155,7 +161,7 @@ class _ControllerWidget extends ReusableReactiveWidget<Controller> {
         width: joystickRadius,
         height: joystickRadius,
         decoration: BoxDecoration(
-          color: Colors.yellow,
+          color: gamepadColor,
           borderRadius: BorderRadius.circular(10000),
         ),
       ),
@@ -178,7 +184,7 @@ class _ControllerWidget extends ReusableReactiveWidget<Controller> {
       alignment: Alignment.bottomCenter,
       decoration: BoxDecoration(
         border: Border.all(
-          color: Colors.yellow,
+          color: gamepadColor,
           width: borderWidth,
           strokeAlign: BorderSide.strokeAlignOutside,
         ),
@@ -186,7 +192,7 @@ class _ControllerWidget extends ReusableReactiveWidget<Controller> {
       child: Container(
         width: triggerWidth,
         height: value * triggerHeight,
-        color: Colors.yellow,
+        color: gamepadColor,
       ),
     );
   }
@@ -196,7 +202,7 @@ class _ControllerWidget extends ReusableReactiveWidget<Controller> {
     final renderBox = context.findAncestorRenderObjectOfType<RenderBox>();
 
     final widgetSize =
-        (renderBox == null || !renderBox.hasSize) ? imageSize : renderBox.size;
+      (renderBox == null || !renderBox.hasSize) ? imageSize : renderBox.size;
 
     final aOffset = _getPositionedOffset(
       offsetOnImage: buttonA,
@@ -255,140 +261,56 @@ class _ControllerWidget extends ReusableReactiveWidget<Controller> {
       widgetSize: widgetSize,
     );
 
-    final buttonRadius = _getScaledValue(normalButtonRadius, widgetSize);
 
-    final outlineWidth = _getScaledValue(7.5, widgetSize);
 
+    final buttonRadius = _getScaledValue(normalButtonRadius, widgetSize);
+    final outlineWidth = _getScaledValue(7.5, widgetSize);
     final state = model.gamepad.getState();
+
+    Widget buttonWidget({
+      required Offset offset,
+      bool? value,
+    }) =>  Positioned(
+      left: offset.dx,
+      top: offset.dy,
+      child: _ControllerButton(
+        value: value ?? false,
+        radius: buttonRadius,
+        outlineWidth: outlineWidth,
+      ),
+    );
+
+    Widget triggerWidget({
+      required Offset offset,
+      required double? value,
+    }) => Positioned(
+      left: offset.dx,
+      top: offset.dy,
+      child: _analogTrigger(
+        value: value ?? 0,
+        widgetSize: widgetSize,
+      ),
+    );
+
     return Opacity(
       opacity: model.isConnected ? 1 : 0.50,
       child: Stack(
         children: [
           Image.asset("assets/gamesir_controller.png", fit: BoxFit.contain),
-          Positioned(
-            left: aOffset.dx,
-            top: aOffset.dy,
-            child: _ControllerButton(
-              value: state?.buttonA ?? false,
-              radius: buttonRadius,
-              outlineWidth: outlineWidth,
-            ),
-          ),
-          Positioned(
-            left: bOffset.dx,
-            top: bOffset.dy,
-            child: _ControllerButton(
-              value: state?.buttonB ?? false,
-              radius: buttonRadius,
-              outlineWidth: outlineWidth,
-            ),
-          ),
-          Positioned(
-            left: xOffset.dx,
-            top: xOffset.dy,
-            child: _ControllerButton(
-              value: state?.buttonX ?? false,
-              radius: buttonRadius,
-              outlineWidth: outlineWidth,
-            ),
-          ),
-          Positioned(
-            left: yOffset.dx,
-            top: yOffset.dy,
-            child: _ControllerButton(
-              value: state?.buttonY ?? false,
-              radius: buttonRadius,
-              outlineWidth: outlineWidth,
-            ),
-          ),
-          Positioned(
-            left: lbOffset.dx,
-            top: lbOffset.dy,
-            child: _ControllerButton(
-              value: state?.leftShoulder ?? false,
-              radius: buttonRadius,
-              outlineWidth: outlineWidth,
-            ),
-          ),
-          Positioned(
-            left: rbOffset.dx,
-            top: rbOffset.dy,
-            child: _ControllerButton(
-              value: state?.rightShoulder ?? false,
-              radius: buttonRadius,
-              outlineWidth: outlineWidth,
-            ),
-          ),
-          Positioned(
-            left: ltOffset.dx,
-            top: ltOffset.dy,
-            child: _analogTrigger(
-              value: state?.normalLeftTrigger ?? 0,
-              widgetSize: widgetSize,
-            ),
-          ),
-          Positioned(
-            left: rtOffset.dx,
-            top: rtOffset.dy,
-            child: _analogTrigger(
-              value: state?.normalRightTrigger ?? 0,
-              widgetSize: widgetSize,
-            ),
-          ),
-          Positioned(
-            left: startOffset.dx,
-            top: startOffset.dy,
-            child: _ControllerButton(
-              value: state?.buttonStart ?? false,
-              radius: buttonRadius,
-              outlineWidth: outlineWidth,
-            ),
-          ),
-          Positioned(
-            left: selectOffset.dx,
-            top: selectOffset.dy,
-            child: _ControllerButton(
-              value: state?.buttonBack ?? false,
-              radius: buttonRadius,
-              outlineWidth: outlineWidth,
-            ),
-          ),
-          Positioned(
-            left: dPadUpOffset.dx,
-            top: dPadUpOffset.dy,
-            child: _ControllerButton(
-              value: state?.dpadUp ?? false,
-              radius: buttonRadius,
-              outlineWidth: outlineWidth,
-            ),
-          ),
-          Positioned(
-            left: dPadDownOffset.dx,
-            top: dPadDownOffset.dy,
-            child: _ControllerButton(
-              value: state?.dpadDown ?? false,
-              radius: buttonRadius,
-              outlineWidth: outlineWidth,
-            ),
-          ),
-          Positioned(
-            left: dPadLeftOffset.dx,
-            top: dPadLeftOffset.dy,
-            child: _ControllerButton(
-              value: state?.dpadLeft ?? false,
-              radius: buttonRadius,
-              outlineWidth: outlineWidth,
-            ),
-          ),
-          Positioned(
-            left: dPadRightOffset.dx,
-            top: dPadRightOffset.dy,
-            child: _ControllerButton(
-              value: state?.dpadRight ?? false,
-              radius: buttonRadius,
-              outlineWidth: outlineWidth,
-            ),
-          ),
+          buttonWidget(offset: aOffset, value: state?.buttonA),
+          buttonWidget(offset: bOffset, value: state?.buttonB),
+          buttonWidget(offset: xOffset, value: state?.buttonX),
+          buttonWidget(offset: yOffset, value: state?.buttonY),
+          buttonWidget(offset: lbOffset, value: state?.leftShoulder),
+          buttonWidget(offset: rbOffset, value: state?.rightShoulder),
+          buttonWidget(offset: startOffset, value: state?.buttonStart),
+          buttonWidget(offset: selectOffset, value: state?.buttonBack),
+          buttonWidget(offset: dPadUpOffset, value: state?.dpadUp),
+          buttonWidget(offset: dPadDownOffset, value: state?.dpadDown),
+          buttonWidget(offset: dPadLeftOffset, value: state?.dpadLeft),
+          buttonWidget(offset: dPadRightOffset, value: state?.dpadRight),
+          triggerWidget(offset: ltOffset, value: state?.normalLeftTrigger),
+          triggerWidget(offset: rtOffset, value: state?.normalRightTrigger),
           _controllerJoystick(
             x: state?.normalLeftX ?? 0,
             y: -1 * (state?.normalLeftY ?? 0),
@@ -420,15 +342,15 @@ class _ControllerButton extends StatelessWidget {
 
   @override
   Widget build(BuildContext context) => Container(
-        width: radius,
-        height: radius,
-        decoration: BoxDecoration(
-          color: value ? Colors.yellow : Colors.transparent,
-          shape: BoxShape.circle,
-          border: Border.all(
-            color: Colors.yellow,
-            width: outlineWidth,
-          ),
-        ),
-      );
+    width: radius,
+    height: radius,
+    decoration: BoxDecoration(
+      color: value ? gamepadColor : Colors.transparent,
+      shape: BoxShape.circle,
+      border: Border.all(
+        color: gamepadColor,
+        width: outlineWidth,
+      ),
+    ),
+  );
 }

From 4a0bf776958602058d47dd759a5ccd060a143ccf Mon Sep 17 00:00:00 2001
From: Levi Lesches <levilesches@gmail.com>
Date: Wed, 30 Oct 2024 07:36:05 -0400
Subject: [PATCH 10/15] More formatting

---
 lib/src/pages/controller.dart | 94 +++++++----------------------------
 1 file changed, 19 insertions(+), 75 deletions(-)

diff --git a/lib/src/pages/controller.dart b/lib/src/pages/controller.dart
index dfd4205e9..f4a499658 100644
--- a/lib/src/pages/controller.dart
+++ b/lib/src/pages/controller.dart
@@ -200,77 +200,27 @@ class _ControllerWidget extends ReusableReactiveWidget<Controller> {
   @override
   Widget build(BuildContext context, Controller model) {
     final renderBox = context.findAncestorRenderObjectOfType<RenderBox>();
-
-    final widgetSize =
-      (renderBox == null || !renderBox.hasSize) ? imageSize : renderBox.size;
-
-    final aOffset = _getPositionedOffset(
-      offsetOnImage: buttonA,
-      widgetSize: widgetSize,
-    );
-    final bOffset = _getPositionedOffset(
-      offsetOnImage: buttonB,
-      widgetSize: widgetSize,
-    );
-    final xOffset = _getPositionedOffset(
-      offsetOnImage: buttonX,
-      widgetSize: widgetSize,
-    );
-    final yOffset = _getPositionedOffset(
-      offsetOnImage: buttonY,
-      widgetSize: widgetSize,
-    );
-    final lbOffset = _getPositionedOffset(
-      offsetOnImage: leftBumper,
-      widgetSize: widgetSize,
-    );
-    final rbOffset = _getPositionedOffset(
-      offsetOnImage: rightBumper,
-      widgetSize: widgetSize,
-    );
-    final ltOffset = _getPositionedOffset(
-      offsetOnImage: leftTrigger,
-      widgetSize: widgetSize,
-    );
-    final rtOffset = _getPositionedOffset(
-      offsetOnImage: rightTrigger,
-      widgetSize: widgetSize,
-    );
-    final startOffset = _getPositionedOffset(
-      offsetOnImage: start,
-      widgetSize: widgetSize,
-    );
-    final selectOffset = _getPositionedOffset(
-      offsetOnImage: select,
-      widgetSize: widgetSize,
-    );
-    final dPadUpOffset = _getPositionedOffset(
-      offsetOnImage: dPadUp,
-      widgetSize: widgetSize,
-    );
-    final dPadDownOffset = _getPositionedOffset(
-      offsetOnImage: dPadDown,
-      widgetSize: widgetSize,
-    );
-    final dPadLeftOffset = _getPositionedOffset(
-      offsetOnImage: dPadLeft,
-      widgetSize: widgetSize,
-    );
-    final dPadRightOffset = _getPositionedOffset(
-      offsetOnImage: dPadRight,
-      widgetSize: widgetSize,
-    );
-
-
-
+    final widgetSize = (renderBox == null || !renderBox.hasSize) ? imageSize : renderBox.size;
     final buttonRadius = _getScaledValue(normalButtonRadius, widgetSize);
     final outlineWidth = _getScaledValue(7.5, widgetSize);
     final state = model.gamepad.getState();
 
-    Widget buttonWidget({
-      required Offset offset,
-      bool? value,
-    }) =>  Positioned(
+    final aOffset = _getPositionedOffset(offsetOnImage: buttonA, widgetSize: widgetSize);
+    final bOffset = _getPositionedOffset(offsetOnImage: buttonB, widgetSize: widgetSize);
+    final xOffset = _getPositionedOffset(offsetOnImage: buttonX, widgetSize: widgetSize);
+    final yOffset = _getPositionedOffset(offsetOnImage: buttonY, widgetSize: widgetSize);
+    final lbOffset = _getPositionedOffset(offsetOnImage: leftBumper, widgetSize: widgetSize);
+    final rbOffset = _getPositionedOffset(offsetOnImage: rightBumper, widgetSize: widgetSize);
+    final ltOffset = _getPositionedOffset(offsetOnImage: leftTrigger, widgetSize: widgetSize);
+    final rtOffset = _getPositionedOffset(offsetOnImage: rightTrigger, widgetSize: widgetSize);
+    final startOffset = _getPositionedOffset(offsetOnImage: start, widgetSize: widgetSize);
+    final selectOffset = _getPositionedOffset(offsetOnImage: select, widgetSize: widgetSize);
+    final dPadUpOffset = _getPositionedOffset(offsetOnImage: dPadUp, widgetSize: widgetSize);
+    final dPadDownOffset = _getPositionedOffset(offsetOnImage: dPadDown, widgetSize: widgetSize);
+    final dPadLeftOffset = _getPositionedOffset(offsetOnImage: dPadLeft, widgetSize: widgetSize);
+    final dPadRightOffset = _getPositionedOffset(offsetOnImage: dPadRight, widgetSize: widgetSize);
+
+    Widget buttonWidget({required Offset offset, bool? value}) =>  Positioned(
       left: offset.dx,
       top: offset.dy,
       child: _ControllerButton(
@@ -280,10 +230,7 @@ class _ControllerWidget extends ReusableReactiveWidget<Controller> {
       ),
     );
 
-    Widget triggerWidget({
-      required Offset offset,
-      required double? value,
-    }) => Positioned(
+    Widget triggerWidget({required Offset offset, required double? value}) => Positioned(
       left: offset.dx,
       top: offset.dy,
       child: _analogTrigger(
@@ -347,10 +294,7 @@ class _ControllerButton extends StatelessWidget {
     decoration: BoxDecoration(
       color: value ? gamepadColor : Colors.transparent,
       shape: BoxShape.circle,
-      border: Border.all(
-        color: gamepadColor,
-        width: outlineWidth,
-      ),
+      border: Border.all(color: gamepadColor, width: outlineWidth),
     ),
   );
 }

From 893072e39f643df00ba82cfd772de9710ab7fd86 Mon Sep 17 00:00:00 2001
From: Levi Lesches <levilesches@gmail.com>
Date: Tue, 19 Nov 2024 00:31:28 -0500
Subject: [PATCH 11/15] Moved controllers page to the bottom of the list

---
 lib/src/pages/view.dart | 10 +++++-----
 1 file changed, 5 insertions(+), 5 deletions(-)

diff --git a/lib/src/pages/view.dart b/lib/src/pages/view.dart
index 80191b35b..f6c600d42 100644
--- a/lib/src/pages/view.dart
+++ b/lib/src/pages/view.dart
@@ -91,11 +91,6 @@ class DashboardView {
 
   /// A list of views that represent all non-camera feeds.
   static final List<DashboardView> uiViews = [
-    DashboardView(
-      name: Routes.controllers,
-      iconFunc: () => Icon(Icons.sports_esports, color: Colors.black.withOpacity(0.5)),
-      builder: (context, index) => ControllersPage(index: index),
-    ),
     DashboardView(
       name: Routes.science,
       iconFunc: () => Icon(Icons.science, color: Colors.black.withOpacity(0.5)),
@@ -126,6 +121,11 @@ class DashboardView {
       iconFunc: () => Icon(Icons.landslide, color: Colors.black.withOpacity(0.5)),
       builder: (context, index) => RocksPage(index: index),
     ),
+    DashboardView(
+      name: Routes.controllers,
+      iconFunc: () => Icon(Icons.sports_esports, color: Colors.black.withOpacity(0.5)),
+      builder: (context, index) => ControllersPage(index: index),
+    ),
   ];
 
   /// A blank view.

From 3e91f33f787896c52b7245b97c87dd7cf77ea4c9 Mon Sep 17 00:00:00 2001
From: Levi Lesches <levilesches@gmail.com>
Date: Tue, 19 Nov 2024 00:36:09 -0500
Subject: [PATCH 12/15] Refactored ControllersPage from Stateful -> Reactive

---
 lib/src/pages/controller.dart | 37 ++++++++++++++++++-----------------
 1 file changed, 19 insertions(+), 18 deletions(-)

diff --git a/lib/src/pages/controller.dart b/lib/src/pages/controller.dart
index f4a499658..06ef4ee9d 100644
--- a/lib/src/pages/controller.dart
+++ b/lib/src/pages/controller.dart
@@ -5,8 +5,18 @@ import "package:rover_dashboard/models.dart";
 import "package:rover_dashboard/services.dart";
 import "package:rover_dashboard/widgets.dart";
 
+class ControllersViewModel with ChangeNotifier {
+  Controller selectedController = models.rover.controller1;
+
+  void setController(Controller? value) {
+    if (value == null) return;
+    selectedController = value;
+    notifyListeners();
+  }
+}
+
 /// The UI Page to display the controller status
-class ControllersPage extends StatefulWidget {
+class ControllersPage extends ReactiveWidget<ControllersViewModel> {
   /// The index of this view.
   final int index;
 
@@ -14,19 +24,10 @@ class ControllersPage extends StatefulWidget {
   const ControllersPage({required this.index, super.key});
 
   @override
-  State<ControllersPage> createState() => _ControllersPageState();
-}
-
-class _ControllersPageState extends State<ControllersPage> {
-  Controller selectedController = models.rover.controller1;
-
-  void _setController(Controller? value) {
-    if (value == null) return;
-    setState(() => selectedController = value);
-  }
+  ControllersViewModel createModel() => ControllersViewModel();
 
   @override
-  Widget build(BuildContext context) => Column(
+  Widget build(BuildContext context, ControllersViewModel model) => Column(
     children: [
       const SizedBox(height: 16),
       Row(
@@ -34,8 +35,8 @@ class _ControllersPageState extends State<ControllersPage> {
           const Spacer(),
           const Text("Controller: "),
           DropdownButton<Controller>(
-            value: selectedController,
-            onChanged: _setController,
+            value: model.selectedController,
+            onChanged: model.setController,
             items: [
               DropdownMenuItem(
                 value: models.rover.controller1,
@@ -53,19 +54,19 @@ class _ControllersPageState extends State<ControllersPage> {
           ),
           const SizedBox(width: 8),
           FilledButton(
-            onPressed: selectedController.isConnected
-              ? selectedController.gamepad.pulse : null,
+            onPressed: model.selectedController.isConnected
+              ? model.selectedController.gamepad.pulse : null,
             child: const Text("Vibrate"),
           ),
           const Spacer(),
-          ViewsSelector(index: widget.index),
+          ViewsSelector(index: index),
         ],
       ),
       Expanded(
         child: Padding(
           padding: const EdgeInsets.all(10),
           child: Center(
-            child: _ControllerWidget(selectedController),
+            child: _ControllerWidget(model.selectedController),
           ),
         ),
       ),

From fab5e8b46b9fd2129aaf3354173886dc43715612 Mon Sep 17 00:00:00 2001
From: Levi Lesches <levilesches@gmail.com>
Date: Tue, 19 Nov 2024 00:42:18 -0500
Subject: [PATCH 13/15] Fixed vibrate button not working

---
 lib/src/pages/controller.dart | 16 ++++++++++++++++
 1 file changed, 16 insertions(+)

diff --git a/lib/src/pages/controller.dart b/lib/src/pages/controller.dart
index 06ef4ee9d..67e8ef775 100644
--- a/lib/src/pages/controller.dart
+++ b/lib/src/pages/controller.dart
@@ -5,12 +5,28 @@ import "package:rover_dashboard/models.dart";
 import "package:rover_dashboard/services.dart";
 import "package:rover_dashboard/widgets.dart";
 
+/// A view model to select and listen to a gamepad.
 class ControllersViewModel with ChangeNotifier {
+  /// The gamepad to listen to.
   Controller selectedController = models.rover.controller1;
 
+  /// Starts listening to the gamepad.
+  ControllersViewModel() {
+    selectedController.addListener(notifyListeners);
+  }
+
+  @override
+  void dispose() {
+    selectedController.removeListener(notifyListeners);
+    super.dispose();
+  }
+
+  /// Changes which controller is being listened to.
   void setController(Controller? value) {
     if (value == null) return;
+    selectedController.removeListener(notifyListeners);
     selectedController = value;
+    selectedController.addListener(notifyListeners);
     notifyListeners();
   }
 }

From ce8c4a374ea271be6093994a380f3162062085ca Mon Sep 17 00:00:00 2001
From: Levi Lesches <levilesches@gmail.com>
Date: Tue, 19 Nov 2024 00:49:55 -0500
Subject: [PATCH 14/15] Moved ControllerButton to its own file

---
 lib/src/pages/controller.dart         | 32 +++++--------------------
 lib/src/pages/controllers/button.dart | 34 +++++++++++++++++++++++++++
 2 files changed, 40 insertions(+), 26 deletions(-)
 create mode 100644 lib/src/pages/controllers/button.dart

diff --git a/lib/src/pages/controller.dart b/lib/src/pages/controller.dart
index 67e8ef775..a87ffb293 100644
--- a/lib/src/pages/controller.dart
+++ b/lib/src/pages/controller.dart
@@ -5,6 +5,8 @@ import "package:rover_dashboard/models.dart";
 import "package:rover_dashboard/services.dart";
 import "package:rover_dashboard/widgets.dart";
 
+import "controllers/button.dart";
+
 /// A view model to select and listen to a gamepad.
 class ControllersViewModel with ChangeNotifier {
   /// The gamepad to listen to.
@@ -240,10 +242,11 @@ class _ControllerWidget extends ReusableReactiveWidget<Controller> {
     Widget buttonWidget({required Offset offset, bool? value}) =>  Positioned(
       left: offset.dx,
       top: offset.dy,
-      child: _ControllerButton(
-        value: value ?? false,
+      child: ControllerButton(
+        isPressed: value ?? false,
         radius: buttonRadius,
-        outlineWidth: outlineWidth,
+        borderWidth: outlineWidth,
+        color: gamepadColor,
       ),
     );
 
@@ -292,26 +295,3 @@ class _ControllerWidget extends ReusableReactiveWidget<Controller> {
     );
   }
 }
-
-class _ControllerButton extends StatelessWidget {
-  final double radius;
-  final double outlineWidth;
-  final bool value;
-
-  const _ControllerButton({
-    required this.value,
-    required this.radius,
-    required this.outlineWidth,
-  });
-
-  @override
-  Widget build(BuildContext context) => Container(
-    width: radius,
-    height: radius,
-    decoration: BoxDecoration(
-      color: value ? gamepadColor : Colors.transparent,
-      shape: BoxShape.circle,
-      border: Border.all(color: gamepadColor, width: outlineWidth),
-    ),
-  );
-}
diff --git a/lib/src/pages/controllers/button.dart b/lib/src/pages/controllers/button.dart
new file mode 100644
index 000000000..c16489dfb
--- /dev/null
+++ b/lib/src/pages/controllers/button.dart
@@ -0,0 +1,34 @@
+import "package:flutter/material.dart";
+
+/// Represents a button that is pressed or not.
+class ControllerButton extends StatelessWidget {
+  /// The radius with which to draw this button.
+  final double radius;
+
+  /// How thick the border should be.
+  final double borderWidth;
+
+  /// Whether the button is pressed or not.
+  final bool isPressed;
+
+  final Color color;
+
+  /// Draws a small circle to represent a button that can be pressed.
+  const ControllerButton({
+    required this.isPressed,
+    required this.radius,
+    required this.borderWidth,
+    required this.color,
+  });
+
+  @override
+  Widget build(BuildContext context) => Container(
+    width: radius,
+    height: radius,
+    decoration: BoxDecoration(
+      color: isPressed ? color : null,
+      shape: BoxShape.circle,
+      border: Border.all(color: color, width: borderWidth),
+    ),
+  );
+}

From 4d435dd9c50f95f317fad717319499dce3e33365 Mon Sep 17 00:00:00 2001
From: Levi Lesches <levilesches@gmail.com>
Date: Tue, 19 Nov 2024 01:09:10 -0500
Subject: [PATCH 15/15] Moved ControllerWidget to its own file

---
 lib/src/pages/controller.dart             | 213 +---------------------
 lib/src/pages/controllers/button.dart     |   1 +
 lib/src/pages/controllers/constants.dart  |  73 ++++++++
 lib/src/pages/controllers/controller.dart | 180 ++++++++++++++++++
 4 files changed, 257 insertions(+), 210 deletions(-)
 create mode 100644 lib/src/pages/controllers/constants.dart
 create mode 100644 lib/src/pages/controllers/controller.dart

diff --git a/lib/src/pages/controller.dart b/lib/src/pages/controller.dart
index a87ffb293..fc763dd51 100644
--- a/lib/src/pages/controller.dart
+++ b/lib/src/pages/controller.dart
@@ -1,11 +1,8 @@
-import "dart:math";
-
-import "package:flutter/material.dart";
+import "package:flutter/material.dart";
 import "package:rover_dashboard/models.dart";
-import "package:rover_dashboard/services.dart";
 import "package:rover_dashboard/widgets.dart";
 
-import "controllers/button.dart";
+import "controllers/controller.dart";
 
 /// A view model to select and listen to a gamepad.
 class ControllersViewModel with ChangeNotifier {
@@ -84,214 +81,10 @@ class ControllersPage extends ReactiveWidget<ControllersViewModel> {
         child: Padding(
           padding: const EdgeInsets.all(10),
           child: Center(
-            child: _ControllerWidget(model.selectedController),
+            child: ControllerWidget(model.selectedController),
           ),
         ),
       ),
     ],
   );
 }
-
-/// The color to fill in all gamepad buttons with.
-const gamepadColor = Colors.blue;
-
-/// Displays data for the provided [Controller]
-class _ControllerWidget extends ReusableReactiveWidget<Controller> {
-  static const Size imageSize = Size(905, 568);
-
-  static const double normalButtonRadius = 40;
-  static const double normalJoystickRadius = 70;
-  static const double joystickMaxOffset = 40;
-  static const double normalTriggerWidth = 30;
-  static const double normalTriggerHeight = 80;
-  static const double normalTriggerOutline = 10;
-
-  static const Offset buttonA = Offset(727, 230);
-  static const Offset buttonB = Offset(784, 173);
-  static const Offset buttonX = Offset(670, 173);
-  static const Offset buttonY = Offset(727, 117);
-
-  static const Offset leftBumper = Offset(186, 16);
-  static const Offset rightBumper = Offset(726, 16);
-
-  static const Offset leftTrigger = Offset(40, 35);
-  static const Offset rightTrigger = Offset(872, 35);
-
-  static const Offset select = Offset(349, 112);
-  static const Offset start = Offset(558, 112);
-
-  static const Offset dPadUp = Offset(180, 122);
-  static const Offset dPadDown = Offset(180, 221);
-  static const Offset dPadLeft = Offset(125, 175);
-  static const Offset dPadRight = Offset(227, 175);
-
-  static const Offset leftStick = Offset(289, 295);
-  static const Offset rightStick = Offset(616, 295);
-
-  /// Const constructor for Controller Widget
-  const _ControllerWidget(super.model);
-
-  double _getScaledValue(double normalValue, Size widgetSize) =>
-    (_getBackgroundFitWidth(widgetSize) / imageSize.width) * normalValue;
-
-  double _getBackgroundFitWidth(Size widgetSize) {
-    var fitWidth = widgetSize.width;
-    var fitHeight = widgetSize.height;
-
-    if (imageSize.width < widgetSize.width && imageSize.height < widgetSize.height) {
-      fitWidth = imageSize.width;
-      fitHeight = imageSize.height;
-    }
-
-    return min(fitWidth, fitHeight / (imageSize.height / imageSize.width));
-  }
-
-  Offset _getPositionedOffset({
-    required Offset offsetOnImage,
-    required Size widgetSize,
-    double radius = normalButtonRadius,
-  }) {
-    final scaleFactor = _getBackgroundFitWidth(widgetSize) / imageSize.width;
-    final xFromCenter = offsetOnImage.dx - radius / 2;
-    final yFromCenter = offsetOnImage.dy - radius / 2;
-
-    return Offset(xFromCenter, yFromCenter) * scaleFactor;
-  }
-
-  // This can't be its own widget since it has to be embedded into the stack for the position to work
-  Widget _controllerJoystick({
-    required double x,
-    required double y,
-    required Offset offsetOnImage,
-    required Size widgetSize,
-  }) {
-    final scaleFactor = _getBackgroundFitWidth(widgetSize) / imageSize.width;
-
-    final joystickRadius = normalJoystickRadius * scaleFactor;
-    final maxOffset = joystickMaxOffset * scaleFactor;
-
-    final xFromCenter = offsetOnImage.dx - normalJoystickRadius / 2;
-    final yFromCenter = offsetOnImage.dy - normalJoystickRadius / 2;
-
-    return Positioned(
-      left: xFromCenter * scaleFactor + maxOffset * x,
-      top: yFromCenter * scaleFactor + maxOffset * y,
-      child: Container(
-        width: joystickRadius,
-        height: joystickRadius,
-        decoration: BoxDecoration(
-          color: gamepadColor,
-          borderRadius: BorderRadius.circular(10000),
-        ),
-      ),
-    );
-  }
-
-  Widget _analogTrigger({
-    required double value,
-    required Size widgetSize,
-  }) {
-    final scaleFactor = _getBackgroundFitWidth(widgetSize) / imageSize.width;
-
-    final triggerWidth = normalTriggerWidth * scaleFactor;
-    final triggerHeight = normalTriggerHeight * scaleFactor;
-    final borderWidth = normalTriggerOutline * scaleFactor;
-
-    return Container(
-      width: triggerWidth,
-      height: triggerHeight,
-      alignment: Alignment.bottomCenter,
-      decoration: BoxDecoration(
-        border: Border.all(
-          color: gamepadColor,
-          width: borderWidth,
-          strokeAlign: BorderSide.strokeAlignOutside,
-        ),
-      ),
-      child: Container(
-        width: triggerWidth,
-        height: value * triggerHeight,
-        color: gamepadColor,
-      ),
-    );
-  }
-
-  @override
-  Widget build(BuildContext context, Controller model) {
-    final renderBox = context.findAncestorRenderObjectOfType<RenderBox>();
-    final widgetSize = (renderBox == null || !renderBox.hasSize) ? imageSize : renderBox.size;
-    final buttonRadius = _getScaledValue(normalButtonRadius, widgetSize);
-    final outlineWidth = _getScaledValue(7.5, widgetSize);
-    final state = model.gamepad.getState();
-
-    final aOffset = _getPositionedOffset(offsetOnImage: buttonA, widgetSize: widgetSize);
-    final bOffset = _getPositionedOffset(offsetOnImage: buttonB, widgetSize: widgetSize);
-    final xOffset = _getPositionedOffset(offsetOnImage: buttonX, widgetSize: widgetSize);
-    final yOffset = _getPositionedOffset(offsetOnImage: buttonY, widgetSize: widgetSize);
-    final lbOffset = _getPositionedOffset(offsetOnImage: leftBumper, widgetSize: widgetSize);
-    final rbOffset = _getPositionedOffset(offsetOnImage: rightBumper, widgetSize: widgetSize);
-    final ltOffset = _getPositionedOffset(offsetOnImage: leftTrigger, widgetSize: widgetSize);
-    final rtOffset = _getPositionedOffset(offsetOnImage: rightTrigger, widgetSize: widgetSize);
-    final startOffset = _getPositionedOffset(offsetOnImage: start, widgetSize: widgetSize);
-    final selectOffset = _getPositionedOffset(offsetOnImage: select, widgetSize: widgetSize);
-    final dPadUpOffset = _getPositionedOffset(offsetOnImage: dPadUp, widgetSize: widgetSize);
-    final dPadDownOffset = _getPositionedOffset(offsetOnImage: dPadDown, widgetSize: widgetSize);
-    final dPadLeftOffset = _getPositionedOffset(offsetOnImage: dPadLeft, widgetSize: widgetSize);
-    final dPadRightOffset = _getPositionedOffset(offsetOnImage: dPadRight, widgetSize: widgetSize);
-
-    Widget buttonWidget({required Offset offset, bool? value}) =>  Positioned(
-      left: offset.dx,
-      top: offset.dy,
-      child: ControllerButton(
-        isPressed: value ?? false,
-        radius: buttonRadius,
-        borderWidth: outlineWidth,
-        color: gamepadColor,
-      ),
-    );
-
-    Widget triggerWidget({required Offset offset, required double? value}) => Positioned(
-      left: offset.dx,
-      top: offset.dy,
-      child: _analogTrigger(
-        value: value ?? 0,
-        widgetSize: widgetSize,
-      ),
-    );
-
-    return Opacity(
-      opacity: model.isConnected ? 1 : 0.50,
-      child: Stack(
-        children: [
-          Image.asset("assets/gamesir_controller.png", fit: BoxFit.contain),
-          buttonWidget(offset: aOffset, value: state?.buttonA),
-          buttonWidget(offset: bOffset, value: state?.buttonB),
-          buttonWidget(offset: xOffset, value: state?.buttonX),
-          buttonWidget(offset: yOffset, value: state?.buttonY),
-          buttonWidget(offset: lbOffset, value: state?.leftShoulder),
-          buttonWidget(offset: rbOffset, value: state?.rightShoulder),
-          buttonWidget(offset: startOffset, value: state?.buttonStart),
-          buttonWidget(offset: selectOffset, value: state?.buttonBack),
-          buttonWidget(offset: dPadUpOffset, value: state?.dpadUp),
-          buttonWidget(offset: dPadDownOffset, value: state?.dpadDown),
-          buttonWidget(offset: dPadLeftOffset, value: state?.dpadLeft),
-          buttonWidget(offset: dPadRightOffset, value: state?.dpadRight),
-          triggerWidget(offset: ltOffset, value: state?.normalLeftTrigger),
-          triggerWidget(offset: rtOffset, value: state?.normalRightTrigger),
-          _controllerJoystick(
-            x: state?.normalLeftX ?? 0,
-            y: -1 * (state?.normalLeftY ?? 0),
-            offsetOnImage: leftStick,
-            widgetSize: widgetSize,
-          ),
-          _controllerJoystick(
-            x: state?.normalRightX ?? 0,
-            y: -1 * (state?.normalRightY ?? 0),
-            offsetOnImage: rightStick,
-            widgetSize: widgetSize,
-          ),
-        ],
-      ),
-    );
-  }
-}
diff --git a/lib/src/pages/controllers/button.dart b/lib/src/pages/controllers/button.dart
index c16489dfb..fc90f4864 100644
--- a/lib/src/pages/controllers/button.dart
+++ b/lib/src/pages/controllers/button.dart
@@ -11,6 +11,7 @@ class ControllerButton extends StatelessWidget {
   /// Whether the button is pressed or not.
   final bool isPressed;
 
+  /// The color of the button.
   final Color color;
 
   /// Draws a small circle to represent a button that can be pressed.
diff --git a/lib/src/pages/controllers/constants.dart b/lib/src/pages/controllers/constants.dart
new file mode 100644
index 000000000..3ad6c0a37
--- /dev/null
+++ b/lib/src/pages/controllers/constants.dart
@@ -0,0 +1,73 @@
+import "package:flutter/material.dart";
+
+/// The color to fill in all gamepad buttons with.
+const gamepadColor = Colors.blue;
+
+/// The size of the controller image. Useful for overlaying elements on the picture.
+const Size imageSize = Size(905, 568);
+
+/// The radius for a button.
+const double normalButtonRadius = 40;
+
+/// The radius for a joystick.
+const double normalJoystickRadius = 70;
+
+/// The furthest a joystick can be off its center.
+const double joystickMaxOffset = 40;
+
+/// The width of the trigger bars.
+const double normalTriggerWidth = 30;
+
+/// The height of hte trigger bars.
+const double normalTriggerHeight = 80;
+
+/// The thickness of the trigger bars.
+const double normalTriggerOutline = 10;
+
+/// The position of the A button on the image.
+const Offset buttonA = Offset(727, 230);
+
+/// The position of the B button on the image.
+const Offset buttonB = Offset(784, 173);
+
+/// The position of the X button on the image.
+const Offset buttonX = Offset(670, 173);
+
+/// The position of the Y button on the image.
+const Offset buttonY = Offset(727, 117);
+
+/// The position of the left bumper/shoulder on the image.
+const Offset leftBumper = Offset(186, 16);
+
+/// The position of the right bumper/shoulder on the image.
+const Offset rightBumper = Offset(726, 16);
+
+/// The position of the left trigger on the image.
+const Offset leftTrigger = Offset(40, 35);
+
+/// The position of the right trigger on the image.
+const Offset rightTrigger = Offset(872, 35);
+
+/// The position of the select button on the image.
+const Offset select = Offset(349, 112);
+
+/// The position of the start button on the image.
+const Offset start = Offset(558, 112);
+
+/// The position of the up arrow button on the image.
+const Offset dPadUp = Offset(180, 122);
+
+/// The position of the down arrow button on the image.
+const Offset dPadDown = Offset(180, 221);
+
+/// The position of the left arrow button on the image.
+const Offset dPadLeft = Offset(125, 175);
+
+/// The position of the right arrow button on the image.
+const Offset dPadRight = Offset(227, 175);
+
+/// The position of the left joystick on the image.
+const Offset leftStick = Offset(289, 295);
+
+/// The position of the right joystic on the image.
+const Offset rightStick = Offset(616, 295);
diff --git a/lib/src/pages/controllers/controller.dart b/lib/src/pages/controllers/controller.dart
new file mode 100644
index 000000000..a9ac51c35
--- /dev/null
+++ b/lib/src/pages/controllers/controller.dart
@@ -0,0 +1,180 @@
+import "dart:math";
+
+import "package:flutter/material.dart";
+import "package:rover_dashboard/models.dart";
+import "package:rover_dashboard/services.dart";
+import "package:rover_dashboard/widgets.dart";
+
+import "button.dart";
+import "constants.dart";
+
+/// A widget that shows all button presses and analog inputs overlaid on an image of a controller.
+class ControllerWidget extends ReusableReactiveWidget<Controller> {
+  /// Const constructor for Controller Widget
+  const ControllerWidget(super.model);
+
+  double _getScaledValue(double normalValue, Size widgetSize) =>
+    (_getBackgroundFitWidth(widgetSize) / imageSize.width) * normalValue;
+
+  double _getBackgroundFitWidth(Size widgetSize) {
+    var fitWidth = widgetSize.width;
+    var fitHeight = widgetSize.height;
+
+    if (imageSize.width < widgetSize.width && imageSize.height < widgetSize.height) {
+      fitWidth = imageSize.width;
+      fitHeight = imageSize.height;
+    }
+
+    return min(fitWidth, fitHeight / (imageSize.height / imageSize.width));
+  }
+
+  Offset _getPositionedOffset({
+    required Offset offsetOnImage,
+    required Size widgetSize,
+    double radius = normalButtonRadius,
+  }) {
+    final scaleFactor = _getBackgroundFitWidth(widgetSize) / imageSize.width;
+    final xFromCenter = offsetOnImage.dx - radius / 2;
+    final yFromCenter = offsetOnImage.dy - radius / 2;
+
+    return Offset(xFromCenter, yFromCenter) * scaleFactor;
+  }
+
+  // This can't be its own widget since it has to be embedded into the stack for the position to work
+  Widget _controllerJoystick({
+    required double x,
+    required double y,
+    required Offset offsetOnImage,
+    required Size widgetSize,
+  }) {
+    final scaleFactor = _getBackgroundFitWidth(widgetSize) / imageSize.width;
+
+    final joystickRadius = normalJoystickRadius * scaleFactor;
+    final maxOffset = joystickMaxOffset * scaleFactor;
+
+    final xFromCenter = offsetOnImage.dx - normalJoystickRadius / 2;
+    final yFromCenter = offsetOnImage.dy - normalJoystickRadius / 2;
+
+    return Positioned(
+      left: xFromCenter * scaleFactor + maxOffset * x,
+      top: yFromCenter * scaleFactor + maxOffset * y,
+      child: Container(
+        width: joystickRadius,
+        height: joystickRadius,
+        decoration: BoxDecoration(
+          color: gamepadColor,
+          borderRadius: BorderRadius.circular(10000),
+        ),
+      ),
+    );
+  }
+
+  Widget _buttonWidget({
+    required Offset offset,
+    required double buttonRadius,
+    required double outlineWidth,
+    bool? value,
+  }) => Positioned(
+    left: offset.dx,
+    top: offset.dy,
+    child: ControllerButton(
+      isPressed: value ?? false,
+      radius: buttonRadius,
+      borderWidth: outlineWidth,
+      color: gamepadColor,
+    ),
+  );
+
+  Widget _triggerWidget({
+    required Offset offset,
+    required double? value,
+    required Size size,
+  }) {
+    final scaleFactor = _getBackgroundFitWidth(size) / imageSize.width;
+    final triggerWidth = normalTriggerWidth * scaleFactor;
+    final triggerHeight = normalTriggerHeight * scaleFactor;
+    final borderWidth = normalTriggerOutline * scaleFactor;
+    return Positioned(
+      left: offset.dx,
+      top: offset.dy,
+      child: Container(
+        width: triggerWidth,
+        height: triggerHeight,
+        alignment: Alignment.bottomCenter,
+        decoration: BoxDecoration(
+          border: Border.all(
+            color: gamepadColor,
+            width: borderWidth,
+            strokeAlign: BorderSide.strokeAlignOutside,
+          ),
+        ),
+        child: Container(
+          width: triggerWidth,
+          height: (value ?? 0) * triggerHeight,
+          color: gamepadColor,
+        ),
+      ),
+    );
+  }
+
+  Widget _buildGamepad(BuildContext context, Size widgetSize, Controller model) {
+    final buttonRadius = _getScaledValue(normalButtonRadius, widgetSize);
+    final outlineWidth = _getScaledValue(7.5, widgetSize);
+    final state = model.gamepad.getState();
+
+    final aOffset = _getPositionedOffset(offsetOnImage: buttonA, widgetSize: widgetSize);
+    final bOffset = _getPositionedOffset(offsetOnImage: buttonB, widgetSize: widgetSize);
+    final xOffset = _getPositionedOffset(offsetOnImage: buttonX, widgetSize: widgetSize);
+    final yOffset = _getPositionedOffset(offsetOnImage: buttonY, widgetSize: widgetSize);
+    final lbOffset = _getPositionedOffset(offsetOnImage: leftBumper, widgetSize: widgetSize);
+    final rbOffset = _getPositionedOffset(offsetOnImage: rightBumper, widgetSize: widgetSize);
+    final ltOffset = _getPositionedOffset(offsetOnImage: leftTrigger, widgetSize: widgetSize);
+    final rtOffset = _getPositionedOffset(offsetOnImage: rightTrigger, widgetSize: widgetSize);
+    final startOffset = _getPositionedOffset(offsetOnImage: start, widgetSize: widgetSize);
+    final selectOffset = _getPositionedOffset(offsetOnImage: select, widgetSize: widgetSize);
+    final dPadUpOffset = _getPositionedOffset(offsetOnImage: dPadUp, widgetSize: widgetSize);
+    final dPadDownOffset = _getPositionedOffset(offsetOnImage: dPadDown, widgetSize: widgetSize);
+    final dPadLeftOffset = _getPositionedOffset(offsetOnImage: dPadLeft, widgetSize: widgetSize);
+    final dPadRightOffset = _getPositionedOffset(offsetOnImage: dPadRight, widgetSize: widgetSize);
+
+    return Opacity(
+      opacity: model.isConnected ? 1 : 0.50,
+      child: Stack(
+        children: [
+          Image.asset("assets/gamesir_controller.png", fit: BoxFit.contain),
+          _buttonWidget(buttonRadius: buttonRadius, outlineWidth: outlineWidth, offset: aOffset, value: state?.buttonA),
+          _buttonWidget(buttonRadius: buttonRadius, outlineWidth: outlineWidth, offset: bOffset, value: state?.buttonB),
+          _buttonWidget(buttonRadius: buttonRadius, outlineWidth: outlineWidth, offset: xOffset, value: state?.buttonX),
+          _buttonWidget(buttonRadius: buttonRadius, outlineWidth: outlineWidth, offset: yOffset, value: state?.buttonY),
+          _buttonWidget(buttonRadius: buttonRadius, outlineWidth: outlineWidth, offset: lbOffset, value: state?.leftShoulder),
+          _buttonWidget(buttonRadius: buttonRadius, outlineWidth: outlineWidth, offset: rbOffset, value: state?.rightShoulder),
+          _buttonWidget(buttonRadius: buttonRadius, outlineWidth: outlineWidth, offset: startOffset, value: state?.buttonStart),
+          _buttonWidget(buttonRadius: buttonRadius, outlineWidth: outlineWidth, offset: selectOffset, value: state?.buttonBack),
+          _buttonWidget(buttonRadius: buttonRadius, outlineWidth: outlineWidth, offset: dPadUpOffset, value: state?.dpadUp),
+          _buttonWidget(buttonRadius: buttonRadius, outlineWidth: outlineWidth, offset: dPadDownOffset, value: state?.dpadDown),
+          _buttonWidget(buttonRadius: buttonRadius, outlineWidth: outlineWidth, offset: dPadLeftOffset, value: state?.dpadLeft),
+          _buttonWidget(buttonRadius: buttonRadius, outlineWidth: outlineWidth, offset: dPadRightOffset, value: state?.dpadRight),
+          _triggerWidget(size: widgetSize, offset: ltOffset, value: state?.normalLeftTrigger),
+          _triggerWidget(size: widgetSize, offset: rtOffset, value: state?.normalRightTrigger),
+          _controllerJoystick(
+            x: state?.normalLeftX ?? 0,
+            y: -1 * (state?.normalLeftY ?? 0),
+            offsetOnImage: leftStick,
+            widgetSize: widgetSize,
+          ),
+          _controllerJoystick(
+            x: state?.normalRightX ?? 0,
+            y: -1 * (state?.normalRightY ?? 0),
+            offsetOnImage: rightStick,
+            widgetSize: widgetSize,
+          ),
+        ],
+      ),
+    );
+  }
+
+  @override
+  Widget build(BuildContext context, Controller model) => LayoutBuilder(
+    builder: (context, constraints) => _buildGamepad(context, constraints.biggest, model),
+  );
+}