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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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11
wpilibcExamples/src/main/cpp/examples/SwerveControllerCommand/cpp/RobotContainer.cpp
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@@ -32,13 +32,10 @@ RobotContainer::RobotContainer() {
// Set up default drive command
m_drive.SetDefaultCommand(frc2::RunCommand(
[this] {
m_drive.Drive(units::meters_per_second_t(
m_driverController.GetY(frc::GenericHID::kLeftHand)),
units::meters_per_second_t(
m_driverController.GetY(frc::GenericHID::kRightHand)),
units::radians_per_second_t(
m_driverController.GetX(frc::GenericHID::kLeftHand)),
false);
m_drive.Drive(
units::meters_per_second_t(m_driverController.GetLeftY()),
units::meters_per_second_t(m_driverController.GetRightY()),
units::radians_per_second_t(m_driverController.GetLeftX()), false);
},
{&m_drive}));
}