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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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19
wpilibcExamples/src/main/cpp/examples/HatchbotInlined/cpp/RobotContainer.cpp
View File

@@ -23,9 +23,8 @@ 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}));
}
@@ -33,12 +32,14 @@ RobotContainer::RobotContainer() {
void RobotContainer::ConfigureButtonBindings() {
// Configure your button bindings here
// Grab the hatch when the 'A' button is pressed.
frc2::JoystickButton(&m_driverController, 1).WhenPressed(&m_grabHatch);
// Release the hatch when the 'B' button is pressed.
frc2::JoystickButton(&m_driverController, 2).WhenPressed(&m_releaseHatch);
// While holding the shoulder button, drive at half speed
frc2::JoystickButton(&m_driverController, 6)
// Grab the hatch when the 'Circle' button is pressed.
frc2::JoystickButton(&m_driverController, frc::PS4Controller::Button::kCircle)
.WhenPressed(&m_grabHatch);
// Release the hatch when the 'Square' button is pressed.
frc2::JoystickButton(&m_driverController, frc::PS4Controller::Button::kSquare)
.WhenPressed(&m_releaseHatch);
// While holding R1, drive at half speed
frc2::JoystickButton(&m_driverController, frc::PS4Controller::Button::kR1)
.WhenPressed(&m_driveHalfSpeed)
.WhenReleased(&m_driveFullSpeed);
}

4
wpilibcExamples/src/main/cpp/examples/HatchbotInlined/include/RobotContainer.h
View File

@@ -4,7 +4,7 @@
#pragma once
#include <frc/XboxController.h>
#include <frc/PS4Controller.h>
#include <frc/smartdashboard/SendableChooser.h>
#include <frc2/command/Command.h>
#include <frc2/command/FunctionalCommand.h>
@@ -35,7 +35,7 @@ class RobotContainer {
private:
// The driver's controller
frc::XboxController m_driverController{OIConstants::kDriverControllerPort};
frc::PS4Controller m_driverController{OIConstants::kDriverControllerPort};
// The robot's subsystems and commands are defined here...