allwpilib/commandsv2/src/generate/main/java/first_ds_commandhid.java.jinja

// Copyright (c) FIRST and other WPILib contributors.
// Open Source Software; you can modify and/or share it under the terms of
// the WPILib BSD license file in the root directory of this project.

// THIS FILE WAS AUTO-GENERATED BY ./commandsv2/generate_hids.py. DO NOT MODIFY

package org.wpilib.command2.button;

import org.wpilib.command2.CommandScheduler;
import org.wpilib.driverstation.{{ ClassName }}Controller;
import org.wpilib.event.EventLoop;

/**
 * A version of {@link {{ ClassName }}Controller} with {@link Trigger} factories for command-based.
 *
 * @see {{ ClassName }}Controller
 */
@SuppressWarnings("MethodName")
public class Command{{ ClassName }}Controller {
  private final CommandGenericHID m_hid;
  private final {{ ClassName }}Controller m_controller;

  /**
   * Construct an instance of a controller.
   *
   * @param port The port index on the Driver Station that the controller is plugged into.
   */
  public Command{{ ClassName }}Controller(int port) {
    m_hid = CommandGenericHID.getCommandGenericHID(port);
    m_controller = new {{ ClassName }}Controller(m_hid.getHID());
  }

  /**
   * Get the underlying CommandGenericHID object.
   *
   * @return the wrapped CommandGenericHID object
   */
  public CommandGenericHID getHID() {
    return m_hid;
  }

  /**
   * Get the wrapped controller object.
   *
   * @return the wrapped controller object
   */
  public {{ ClassName }}Controller getController() {
    return m_controller;
  }
{% for button in buttons %}
  /**
   * Constructs a Trigger instance around the {{ button.DocName }} button's digital signal.
   *
   * @return a Trigger instance representing the {{ button.DocName }} button's digital signal attached
   *     to the {@link CommandScheduler#getDefaultButtonLoop() default scheduler button loop}.
   * @see #{{ button.Name }}(EventLoop)
   */
  public Trigger {{ button.Name }}() {
    return {{ button.Name }}(CommandScheduler.getInstance().getDefaultButtonLoop());
  }

  /**
   * Constructs a Trigger instance around the {{ button.DocName }} button's digital signal.
   *
   * @param loop the event loop instance to attach the event to.
   * @return a Trigger instance representing the {{ button.DocName }} button's digital signal attached
   *     to the given loop.
   */
  public Trigger {{ button.Name }}(EventLoop loop) {
    return m_hid.button({{ ClassName }}Controller.Button.{{ button.ConstantName }}.value, loop);
  }
{% endfor -%}
{% for trigger in triggerAxes %}
  /**
   * Constructs a Trigger instance around the axis value of the {{ trigger.DocName }}. The returned
   * trigger will be true when the axis value is greater than {@code threshold}.
   *
   * @param threshold the minimum axis value for the returned {@link Trigger} to be true. This value
   *     should be in the range [0, 1] where 0 is the unpressed state of the axis.
   * @param loop the event loop instance to attach the Trigger to.
   * @return a Trigger instance that is true when the {{ trigger.DocName }} axis exceeds the provided
   *     threshold, attached to the given event loop
   */
  public Trigger {{ trigger.Name }}(double threshold, EventLoop loop) {
    return m_hid.axisGreaterThan(
        {{ ClassName }}Controller.Axis.{{ trigger.AxisConstantName }}.value, threshold, loop);
  }

  /**
   * Constructs a Trigger instance around the axis value of the {{ trigger.DocName }}. The returned
   * trigger will be true when the axis value is greater than {@code threshold}.
   *
   * @param threshold the minimum axis value for the returned {@link Trigger} to be true. This value
   *     should be in the range [0, 1] where 0 is the unpressed state of the axis.
   * @return a Trigger instance that is true when the {{ trigger.DocName }} axis exceeds the provided
   *     threshold, attached to the {@link CommandScheduler#getDefaultButtonLoop() default scheduler
   *     button loop}.
   */
  public Trigger {{ trigger.Name }}(double threshold) {
    return {{ trigger.Name }}(threshold, CommandScheduler.getInstance().getDefaultButtonLoop());
  }
{% if trigger.HasDefaultThresholdMethod %}

  /**
   * Constructs a Trigger instance around the axis value of the {{ trigger.DocName }}. The returned
   * trigger will be true when the axis value is greater than 0.5.
   *
   * @return a Trigger instance that is true when the {{ trigger.DocName }} axis exceeds 0.5,
   *     attached to the {@link CommandScheduler#getDefaultButtonLoop() default scheduler button
   *     loop}.
   */
  public Trigger {{ trigger.Name }}() {
    return {{ trigger.Name }}(0.5);
  }
{% endif -%}
{% endfor -%}
{% for axis in axes %}
  /**
   * Get the {{ axis.DocName }} value of the controller.
   *
   * @return The axis value.
   */
  public double get{{ axis.MethodName }}() {
    return m_controller.get{{ axis.MethodName }}();
  }
{% endfor -%}
}