text: #ifndef SRC_FRC5572Controller_HPP_
  #define SRC_FRC5572Controller_HPP_
  
  #include <frc/Utility.h>
  #include <frc/XboxController.h>
  
  #define LEFT_z 2
  #define LEFT_x 0
  #define LEFT_y 1
  
  #define RIGHT_z 3
  #define RIGHT_x 4
  #define RIGHT_y 5
  
  #define LEFT_BUTTON 5
  #define RIGHT_BUTTON 6
  
  #define X_BUTTON 3
  #define Y_BUTTON 4
  #define A_BUTTON 1
  #define B_BUTTON 2
  
  #define START_BUTTON 8
  #define BACK_BUTTON 7
  
  #define LEFT_STICK_BUTTON 9
  #define RIGHT_STICK_BUTTON 10
  
  class FRC5572Controller 
  {
  public:
    bool toggleA = false, togglePressedA = false;
    bool toggleB = false, togglePressedB = false;
    bool toggleX = false, togglePressedX = false;
    bool toggleY = false, togglePressedY = false;
    
    void UpdateToggleA();
    FRC5572Controller(int I);
    ~FRC5572Controller();
    double LT();
    bool LB();
    double RT();
    bool RB();
    bool X();
    bool Y();
    bool A();
    bool B();
    std::pair<double, double> L();
    std::pair<double, double> R();
    int POV();
    bool start();
    bool back();
    bool Lbutton();
    bool Rbutton();
    void rumble(double, double);
  private:
    frc::XboxController *pad;
  };
  
  #endif