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[wpilib] Add PS4Controller, remove Hand from GenericHID/XboxController (#3345)

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- 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
2021-08-14 20:00:46 +03:00
committed by GitHub
parent 25f6f478a5
commit 031962608b
82 changed files with 2548 additions and 934 deletions
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14
wpilibcExamples/src/main/cpp/examples/ArmBot/cpp/RobotContainer.cpp
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@@ -17,9 +17,8 @@ RobotContainer::RobotContainer() {
// Set up default drive command
m_drive.SetDefaultCommand(frc2::RunCommand(
[this] {
m_drive.ArcadeDrive(
m_driverController.GetY(frc::GenericHID::kLeftHand),
m_driverController.GetX(frc::GenericHID::kRightHand));
m_drive.ArcadeDrive(m_driverController.GetLeftY(),
m_driverController.GetRightX());
},
{&m_drive}));
}
@@ -28,7 +27,7 @@ void RobotContainer::ConfigureButtonBindings() {
// Configure your button bindings here
// Move the arm to 2 radians above horizontal when the 'A' button is pressed.
frc2::JoystickButton(&m_driverController, 1)
frc2::JoystickButton(&m_driverController, frc::XboxController::Button::kA)
.WhenPressed(
[this] {
m_arm.SetGoal(2_rad);
@@ -37,7 +36,7 @@ void RobotContainer::ConfigureButtonBindings() {
{&m_arm});
// Move the arm to neutral position when the 'B' button is pressed.
frc2::JoystickButton(&m_driverController, 2)
frc2::JoystickButton(&m_driverController, frc::XboxController::Button::kB)
.WhenPressed(
[this] {
m_arm.SetGoal(ArmConstants::kArmOffset);
@@ -46,11 +45,12 @@ void RobotContainer::ConfigureButtonBindings() {
{&m_arm});
// Disable the arm controller when Y is pressed.
frc2::JoystickButton(&m_driverController, 4)
frc2::JoystickButton(&m_driverController, frc::XboxController::Button::kY)
.WhenPressed([this] { m_arm.Disable(); }, {&m_arm});
// While holding the shoulder button, drive at half speed
frc2::JoystickButton(&m_driverController, 6)
frc2::JoystickButton(&m_driverController,
frc::XboxController::Button::kRightBumper)
.WhenPressed([this] { m_drive.SetMaxOutput(0.5); })
.WhenReleased([this] { m_drive.SetMaxOutput(1); });
}