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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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12
wpilibcExamples/src/main/cpp/examples/HatchbotTraditional/cpp/RobotContainer.cpp
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@@ -27,9 +27,8 @@ RobotContainer::RobotContainer() {
// Set up default drive command
m_drive.SetDefaultCommand(DefaultDrive(
&m_drive,
[this] { return m_driverController.GetY(frc::GenericHID::kLeftHand); },
[this] { return m_driverController.GetX(frc::GenericHID::kRightHand); }));
&m_drive, [this] { return m_driverController.GetLeftY(); },
[this] { return m_driverController.GetRightX(); }));
}
void RobotContainer::ConfigureButtonBindings() {
@@ -41,13 +40,14 @@ void RobotContainer::ConfigureButtonBindings() {
// stack-allocated and declared as members of RobotContainer.
// Grab the hatch when the 'A' button is pressed.
frc2::JoystickButton(&m_driverController, 1)
frc2::JoystickButton(&m_driverController, frc::XboxController::Button::kA)
.WhenPressed(new GrabHatch(&m_hatch));
// Release the hatch when the 'B' button is pressed.
frc2::JoystickButton(&m_driverController, 2)
frc2::JoystickButton(&m_driverController, frc::XboxController::Button::kB)
.WhenPressed(new ReleaseHatch(&m_hatch));
// While holding the shoulder button, drive at half speed
frc2::JoystickButton(&m_driverController, 6)
frc2::JoystickButton(&m_driverController,
frc::XboxController::Button::kRightBumper)
.WhenHeld(new HalveDriveSpeed(&m_drive));
}