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[wpilib] Add PS4Controller, remove Hand from GenericHID/XboxController (#3345)
- GenericHID is now concrete, and has only getRawAxis/Button(int) functionality - getXxx() has been moved into Joystick as that's the only place where it makes sense - Hand (and therefore getXxx(Hand)) has been removed, replaced by specific getLeft/RightXxx() methods in XboxController and the new PS4Controller class - C++ ::Button:: and ::Axis:: enums have been converted to identically-namespaced static constexpr ints
This commit is contained in:
Starlight220
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wpilibc/src/main/native/include/frc/PS4Controller.h
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wpilibc/src/main/native/include/frc/PS4Controller.h
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// Copyright (c) FIRST and other WPILib contributors.
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// Open Source Software; you can modify and/or share it under the terms of
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// the WPILib BSD license file in the root directory of this project.
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#pragma once
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#include "frc/GenericHID.h"
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namespace frc {
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/**
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* Handle input from PS4 controllers connected to the Driver Station.
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*
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* <p>This class handles PS4 input that comes from the Driver Station. Each time
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* a value is requested the most recent value is returned. There is a single
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* class instance for each controller and the mapping of ports to hardware
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* buttons depends on the code in the Driver Station.
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*/
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class PS4Controller : public GenericHID {
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public:
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/**
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* Construct an instance of an PS4 controller.
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*
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* The controller index is the USB port on the Driver Station.
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*
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* @param port The port on the Driver Station that the controller is plugged
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* into (0-5).
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*/
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explicit PS4Controller(int port);
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~PS4Controller() override = default;
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PS4Controller(PS4Controller&&) = default;
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PS4Controller& operator=(PS4Controller&&) = default;
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/**
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* Get the X axis value of left side of the controller.
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*
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* @return the axis value.
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*/
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double GetLeftX() const;
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/**
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* Get the X axis value of right side of the controller.
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*
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* @return the axis value.
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*/
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double GetRightX() const;
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/**
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* Get the Y axis value of left side of the controller.
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*
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* @return the axis value.
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*/
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double GetLeftY() const;
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/**
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* Get the Y axis value of right side of the controller.
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*
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* @return the axis value.
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*/
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double GetRightY() const;
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/**
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* Get the L2 axis value of the controller. Note that this axis is bound to
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* the range of [0, 1] as opposed to the usual [-1, 1].
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*
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* @return the axis value.
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*/
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double GetL2Axis() const;
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/**
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* Get the R2 axis value of the controller. Note that this axis is bound to
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* the range of [0, 1] as opposed to the usual [-1, 1].
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*
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* @return the axis value.
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*/
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double GetR2Axis() const;
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/**
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* Read the value of the Square button on the controller.
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*
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* @return The state of the button.
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*/
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bool GetSquareButton() const;
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/**
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* Whether the Square button was pressed since the last check.
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*
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* @return Whether the button was pressed since the last check.
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*/
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bool GetSquareButtonPressed();
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/**
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* Whether the Square button was released since the last check.
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*
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* @return Whether the button was released since the last check.
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*/
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bool GetSquareButtonReleased();
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/**
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* Read the value of the Cross button on the controller.
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*
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* @return The state of the button.
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*/
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bool GetCrossButton() const;
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/**
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* Whether the Cross button was pressed since the last check.
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*
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* @return Whether the button was pressed since the last check.
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*/
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bool GetCrossButtonPressed();
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/**
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* Whether the Cross button was released since the last check.
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*
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* @return Whether the button was released since the last check.
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*/
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bool GetCrossButtonReleased();
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/**
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* Read the value of the Circle button on the controller.
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*
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* @return The state of the button.
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*/
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bool GetCircleButton() const;
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/**
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* Whether the Circle button was pressed since the last check.
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*
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* @return Whether the button was pressed since the last check.
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*/
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bool GetCircleButtonPressed();
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/**
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* Whether the Circle button was released since the last check.
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*
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* @return Whether the button was released since the last check.
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*/
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bool GetCircleButtonReleased();
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/**
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* Read the value of the Triangle button on the controller.
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*
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* @return The state of the button.
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*/
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bool GetTriangleButton() const;
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/**
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* Whether the Triangle button was pressed since the last check.
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*
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* @return Whether the button was pressed since the last check.
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*/
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bool GetTriangleButtonPressed();
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/**
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* Whether the Triangle button was released since the last check.
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*
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* @return Whether the button was released since the last check.
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*/
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bool GetTriangleButtonReleased();
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/**
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* Read the value of the L1 button on the controller.
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*
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* @return The state of the button.
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*/
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bool GetL1Button() const;
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/**
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* Whether the L1 button was pressed since the last check.
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*
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* @return Whether the button was pressed since the last check.
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*/
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bool GetL1ButtonPressed();
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/**
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* Whether the L1 button was released since the last check.
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*
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* @return Whether the button was released since the last check.
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*/
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bool GetL1ButtonReleased();
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/**
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* Read the value of the R1 button on the controller.
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*
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* @return The state of the button.
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*/
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bool GetR1Button() const;
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/**
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* Whether the R1 button was pressed since the last check.
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*
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* @return Whether the button was pressed since the last check.
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*/
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bool GetR1ButtonPressed();
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/**
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* Whether the R1 button was released since the last check.
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*
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* @return Whether the button was released since the last check.
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*/
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bool GetR1ButtonReleased();
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/**
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* Read the value of the L2 button on the controller.
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*
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* @return The state of the button.
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*/
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bool GetL2Button() const;
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/**
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* Whether the L2 button was pressed since the last check.
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*
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* @return Whether the button was pressed since the last check.
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*/
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bool GetL2ButtonPressed();
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/**
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* Whether the L2 button was released since the last check.
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*
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* @return Whether the button was released since the last check.
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*/
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bool GetL2ButtonReleased();
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/**
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* Read the value of the R2 button on the controller.
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*
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* @return The state of the button.
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*/
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bool GetR2Button() const;
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/**
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* Whether the R2 button was pressed since the last check.
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*
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* @return Whether the button was pressed since the last check.
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*/
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bool GetR2ButtonPressed();
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/**
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* Whether the R2 button was released since the last check.
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*
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* @return Whether the button was released since the last check.
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*/
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bool GetR2ButtonReleased();
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/**
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* Read the value of the Share button on the controller.
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*
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* @return The state of the button.
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*/
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bool GetShareButton() const;
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/**
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* Whether the Share button was pressed since the last check.
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*
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* @return Whether the button was pressed since the last check.
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*/
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bool GetShareButtonPressed();
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/**
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* Whether the Share button was released since the last check.
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*
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* @return Whether the button was released since the last check.
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*/
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bool GetShareButtonReleased();
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/**
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* Read the value of the Options button on the controller.
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*
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* @return The state of the button.
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*/
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bool GetOptionsButton() const;
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/**
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* Whether the Options button was pressed since the last check.
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*
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* @return Whether the button was pressed since the last check.
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*/
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bool GetOptionsButtonPressed();
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/**
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* Whether the Options button was released since the last check.
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*
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* @return Whether the button was released since the last check.
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*/
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bool GetOptionsButtonReleased();
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/**
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* Read the value of the L3 button (pressing the left analog stick) on the
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* controller.
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*
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* @return The state of the button.
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*/
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bool GetL3Button() const;
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/**
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* Whether the L3 (left stick) button was pressed since the last check.
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*
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* @return Whether the button was pressed since the last check.
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*/
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bool GetL3ButtonPressed();
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/**
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* Whether the L3 (left stick) button was released since the last check.
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*
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* @return Whether the button was released since the last check.
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*/
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bool GetL3ButtonReleased();
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/**
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* Read the value of the R3 button (pressing the right analog stick) on the
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* controller.
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*
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* @return The state of the button.
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*/
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bool GetR3Button() const;
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/**
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* Whether the R3 (right stick) button was pressed since the last check.
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*
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* @return Whether the button was pressed since the last check.
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*/
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bool GetR3ButtonPressed();
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/**
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* Whether the R3 (right stick) button was released since the last check.
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*
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* @return Whether the button was released since the last check.
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*/
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bool GetR3ButtonReleased();
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/**
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* Read the value of the PS button on the controller.
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*
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* @return The state of the button.
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*/
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bool GetPSButton() const;
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/**
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* Whether the PS button was pressed since the last check.
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*
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* @return Whether the button was pressed since the last check.
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*/
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bool GetPSButtonPressed();
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/**
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* Whether the PS button was released since the last check.
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*
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* @return Whether the button was released since the last check.
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*/
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bool GetPSButtonReleased();
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/**
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* Read the value of the touchpad button on the controller.
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*
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* @return The state of the button.
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*/
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bool GetTouchpad() const;
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/**
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* Whether the touchpad was pressed since the last check.
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*
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* @return Whether the touchpad was pressed since the last check.
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*/
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bool GetTouchpadPressed();
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/**
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* Whether the touchpad was released since the last check.
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*
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* @return Whether the touchpad was released since the last check.
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*/
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bool GetTouchpadReleased();
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struct Button {
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static constexpr int kSquare = 1;
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static constexpr int kCross = 2;
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static constexpr int kCircle = 3;
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static constexpr int kTriangle = 4;
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static constexpr int kL1 = 5;
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static constexpr int kR1 = 6;
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static constexpr int kL2 = 7;
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static constexpr int kR2 = 8;
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static constexpr int kShare = 9;
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static constexpr int kOptions = 10;
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static constexpr int kL3 = 11;
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static constexpr int kR3 = 12;
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static constexpr int kPS = 13;
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static constexpr int kTouchpad = 14;
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};
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struct Axis {
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static constexpr int kLeftX = 0;
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static constexpr int kLeftY = 1;
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static constexpr int kRightX = 2;
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static constexpr int kRightY = 5;
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static constexpr int kL2 = 3;
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static constexpr int kR2 = 4;
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};
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};
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} // namespace frc
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