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[commands] Replace Command HID inheritance with delegation (#4470)

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Starlight220
2022-10-23 22:09:44 +03:00
committed by GitHub
parent 9e1f9c1133
commit 09faf31b67
13 changed files with 1201 additions and 101 deletions
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171
wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/button/CommandGenericHID.java
View File

@@ -9,23 +9,29 @@ import edu.wpi.first.wpilibj.event.EventLoop;
import edu.wpi.first.wpilibj2.command.CommandScheduler;
/**
* A subclass of {@link GenericHID} with {@link Trigger} factories for command-based.
* A version of {@link GenericHID} with {@link Trigger} factories for command-based.
*
* @see GenericHID
*/
public class CommandGenericHID extends GenericHID {
public class CommandGenericHID {
private final GenericHID m_hid;
/**
* Construct an instance of a device.
*
* @param port The port index on the Driver Station that the device is plugged into.
*/
public CommandGenericHID(int port) {
super(port);
m_hid = new GenericHID(port);
}
@Override
public Trigger button(int button, EventLoop loop) {
return super.button(button, loop).castTo(Trigger::new);
/**
* Get the underlying GenericHID object.
*
* @return the wrapped GenericHID object
*/
public GenericHID getHID() {
return m_hid;
}
/**
@@ -37,6 +43,157 @@ public class CommandGenericHID extends GenericHID {
* @see #button(int, EventLoop)
*/
public Trigger button(int button) {
return button(button, CommandScheduler.getInstance().getDefaultButtonLoop());
return this.button(button, CommandScheduler.getInstance().getDefaultButtonLoop());
}
/**
* Constructs an event instance around this button's digital signal.
*
* @param button the button index
* @param loop the event loop instance to attach the event to.
* @return an event instance representing the button's digital signal attached to the given loop.
*/
public Trigger button(int button, EventLoop loop) {
return new Trigger(loop, () -> m_hid.getRawButton(button));
}
/**
* Constructs a Trigger instance based around this angle of the default (index 0) POV on the HID,
* attached to {@link CommandScheduler#getDefaultButtonLoop() the default command scheduler button
* loop}.
*
* <p>The POV angles start at 0 in the up direction, and increase clockwise (eg right is 90,
* upper-left is 315).
*
* @param angle POV angle in degrees, or -1 for the center / not pressed.
* @return a Trigger instance based around this angle of a POV on the HID.
*/
public Trigger pov(int angle) {
return pov(0, angle, CommandScheduler.getInstance().getDefaultButtonLoop());
}
/**
* Constructs a Trigger instance based around this angle of a POV on the HID.
*
* <p>The POV angles start at 0 in the up direction, and increase clockwise (eg right is 90,
* upper-left is 315).
*
* @param pov index of the POV to read (starting at 0). Defaults to 0.
* @param angle POV angle in degrees, or -1 for the center / not pressed.
* @param loop the event loop instance to attach the event to. Defaults to {@link
* CommandScheduler#getDefaultButtonLoop() the default command scheduler button loop}.
* @return a Trigger instance based around this angle of a POV on the HID.
*/
public Trigger pov(int pov, int angle, EventLoop loop) {
return new Trigger(loop, () -> m_hid.getPOV(pov) == angle);
}
/**
* Constructs a Trigger instance based around the 0-degree angle (up) of the default (index 0) POV
* on the HID, attached to {@link CommandScheduler#getDefaultButtonLoop() the default command
* scheduler button loop}.
*
* @return a Trigger instance based around the 0-degree angle of a POV on the HID.
*/
public Trigger povUp() {
return pov(0);
}
/**
* Constructs a Trigger instance based around the 45-degree angle (right up) of the default (index
* 0) POV on the HID, attached to {@link CommandScheduler#getDefaultButtonLoop() the default
* command scheduler button loop}.
*
* @return a Trigger instance based around the 45-degree angle of a POV on the HID.
*/
public Trigger povUpRight() {
return pov(45);
}
/**
* Constructs a Trigger instance based around the 90-degree angle (right) of the default (index 0)
* POV on the HID, attached to {@link CommandScheduler#getDefaultButtonLoop() the default command
* scheduler button loop}.
*
* @return a Trigger instance based around the 90-degree angle of a POV on the HID.
*/
public Trigger povRight() {
return pov(90);
}
/**
* Constructs a Trigger instance based around the 135-degree angle (right down) of the default
* (index 0) POV on the HID, attached to {@link CommandScheduler#getDefaultButtonLoop() the
* default command scheduler button loop}.
*
* @return a Trigger instance based around the 135-degree angle of a POV on the HID.
*/
public Trigger povDownRight() {
return pov(135);
}
/**
* Constructs a Trigger instance based around the 180-degree angle (down) of the default (index 0)
* POV on the HID, attached to {@link CommandScheduler#getDefaultButtonLoop() the default command
* scheduler button loop}.
*
* @return a Trigger instance based around the 180-degree angle of a POV on the HID.
*/
public Trigger povDown() {
return pov(180);
}
/**
* Constructs a Trigger instance based around the 45-degree angle (down left) of the default
* (index 0) POV on the HID, attached to {@link CommandScheduler#getDefaultButtonLoop() the
* default command scheduler button loop}.
*
* @return a Trigger instance based around the 225-degree angle of a POV on the HID.
*/
public Trigger povDownLeft() {
return pov(225);
}
/**
* Constructs a Trigger instance based around the 270-degree angle (left) of the default (index 0)
* POV on the HID, attached to {@link CommandScheduler#getDefaultButtonLoop() the default command
* scheduler button loop}.
*
* @return a Trigger instance based around the 270-degree angle of a POV on the HID.
*/
public Trigger povLeft() {
return pov(270);
}
/**
* Constructs a Trigger instance based around the 315-degree angle (left up) of the default (index
* 0) POV on the HID, attached to {@link CommandScheduler#getDefaultButtonLoop() the default
* command scheduler button loop}.
*
* @return a Trigger instance based around the 315-degree angle of a POV on the HID.
*/
public Trigger povUpLeft() {
return pov(315);
}
/**
* Constructs a Trigger instance based around the center (not pressed) of the default (index 0)
* POV on the HID, attached to {@link CommandScheduler#getDefaultButtonLoop() the default command
* scheduler button loop}.
*
* @return a Trigger instance based around the center of a POV on the HID.
*/
public Trigger povCenter() {
return pov(-1);
}
/**
* Get the value of the axis.
*
* @param axis The axis to read, starting at 0.
* @return The value of the axis.
*/
public double getRawAxis(int axis) {
return m_hid.getRawAxis(axis);
}
}

190
wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/button/CommandJoystick.java
View File

@@ -4,6 +4,7 @@
package edu.wpi.first.wpilibj2.command.button;
import edu.wpi.first.wpilibj.GenericHID;
import edu.wpi.first.wpilibj.Joystick;
import edu.wpi.first.wpilibj.event.EventLoop;
import edu.wpi.first.wpilibj2.command.CommandScheduler;
@@ -13,7 +14,9 @@ import edu.wpi.first.wpilibj2.command.CommandScheduler;
*
* @see Joystick
*/
public class CommandJoystick extends Joystick {
public class CommandJoystick extends CommandGenericHID {
private final Joystick m_hid;
/**
* Construct an instance of a controller.
*
@@ -21,23 +24,17 @@ public class CommandJoystick extends Joystick {
*/
public CommandJoystick(int port) {
super(port);
}
@Override
public Trigger button(int button, EventLoop loop) {
return super.button(button, loop).castTo(Trigger::new);
m_hid = new Joystick(port);
}
/**
* Constructs an event instance around this button's digital signal.
* Get the underlying GenericHID object.
*
* @param button the button index
* @return an event instance representing the button's digital signal attached to the {@link
* CommandScheduler#getDefaultButtonLoop() default scheduler button loop}.
* @see #button(int, EventLoop)
* @return the wrapped GenericHID object
*/
public Trigger button(int button) {
return button(button, CommandScheduler.getInstance().getDefaultButtonLoop());
@Override
public GenericHID getHID() {
return m_hid;
}
/**
@@ -51,9 +48,15 @@ public class CommandJoystick extends Joystick {
return trigger(CommandScheduler.getInstance().getDefaultButtonLoop());
}
@Override
/**
* Constructs an event instance around the trigger button's digital signal.
*
* @param loop the event loop instance to attach the event to.
* @return an event instance representing the trigger button's digital signal attached to the
* given loop.
*/
public Trigger trigger(EventLoop loop) {
return super.trigger(loop).castTo(Trigger::new);
return m_hid.trigger(loop).castTo(Trigger::new);
}
/**
@@ -67,8 +70,161 @@ public class CommandJoystick extends Joystick {
return top(CommandScheduler.getInstance().getDefaultButtonLoop());
}
@Override
/**
* Constructs an event instance around the top button's digital signal.
*
* @param loop the event loop instance to attach the event to.
* @return an event instance representing the top button's digital signal attached to the given
* loop.
*/
public Trigger top(EventLoop loop) {
return super.top(loop).castTo(Trigger::new);
return m_hid.top(loop).castTo(Trigger::new);
}
/**
* Set the channel associated with the X axis.
*
* @param channel The channel to set the axis to.
*/
public void setXChannel(int channel) {
m_hid.setXChannel(channel);
}
/**
* Set the channel associated with the Y axis.
*
* @param channel The channel to set the axis to.
*/
public void setYChannel(int channel) {
m_hid.setYChannel(channel);
}
/**
* Set the channel associated with the Z axis.
*
* @param channel The channel to set the axis to.
*/
public void setZChannel(int channel) {
m_hid.setZChannel(channel);
}
/**
* Set the channel associated with the throttle axis.
*
* @param channel The channel to set the axis to.
*/
public void setThrottleChannel(int channel) {
m_hid.setThrottleChannel(channel);
}
/**
* Set the channel associated with the twist axis.
*
* @param channel The channel to set the axis to.
*/
public void setTwistChannel(int channel) {
m_hid.setTwistChannel(channel);
}
/**
* Get the channel currently associated with the X axis.
*
* @return The channel for the axis.
*/
public int getXChannel() {
return m_hid.getXChannel();
}
/**
* Get the channel currently associated with the Y axis.
*
* @return The channel for the axis.
*/
public int getYChannel() {
return m_hid.getYChannel();
}
/**
* Get the channel currently associated with the Z axis.
*
* @return The channel for the axis.
*/
public int getZChannel() {
return m_hid.getZChannel();
}
/**
* Get the channel currently associated with the twist axis.
*
* @return The channel for the axis.
*/
public int getTwistChannel() {
return m_hid.getTwistChannel();
}
/**
* Get the channel currently associated with the throttle axis.
*
* @return The channel for the axis.
*/
public int getThrottleChannel() {
return m_hid.getThrottleChannel();
}
/**
* Get the z position of the HID.
*
* @return the z position
*/
public double getZ() {
return m_hid.getZ();
}
/**
* Get the twist value of the current joystick. This depends on the mapping of the joystick
* connected to the current port.
*
* @return The Twist value of the joystick.
*/
public double getTwist() {
return m_hid.getTwist();
}
/**
* Get the throttle value of the current joystick. This depends on the mapping of the joystick
* connected to the current port.
*
* @return The Throttle value of the joystick.
*/
public double getThrottle() {
return m_hid.getThrottle();
}
/**
* Get the magnitude of the direction vector formed by the joystick's current position relative to
* its origin.
*
* @return The magnitude of the direction vector
*/
public double getMagnitude() {
return m_hid.getMagnitude();
}
/**
* Get the direction of the vector formed by the joystick and its origin in radians.
*
* @return The direction of the vector in radians
*/
public double getDirectionRadians() {
return m_hid.getDirectionRadians();
}
/**
* Get the direction of the vector formed by the joystick and its origin in degrees.
*
* @return The direction of the vector in degrees
*/
public double getDirectionDegrees() {
return m_hid.getDirectionDegrees();
}
}

204
wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/button/CommandPS4Controller.java
View File

@@ -4,17 +4,20 @@
package edu.wpi.first.wpilibj2.command.button;
import edu.wpi.first.wpilibj.GenericHID;
import edu.wpi.first.wpilibj.PS4Controller;
import edu.wpi.first.wpilibj.event.EventLoop;
import edu.wpi.first.wpilibj2.command.CommandScheduler;
/**
* A subclass of {@link PS4Controller} with {@link Trigger} factories for command-based.
* A version of {@link PS4Controller} with {@link Trigger} factories for command-based.
*
* @see PS4Controller
*/
@SuppressWarnings("MethodName")
public class CommandPS4Controller extends PS4Controller {
public class CommandPS4Controller extends CommandGenericHID {
private final PS4Controller m_hid;
/**
* Construct an instance of a device.
*
@@ -22,6 +25,17 @@ public class CommandPS4Controller extends PS4Controller {
*/
public CommandPS4Controller(int port) {
super(port);
m_hid = new PS4Controller(port);
}
/**
* Get the underlying GenericHID object.
*
* @return the wrapped GenericHID object
*/
@Override
public GenericHID getHID() {
return m_hid;
}
/**
@@ -34,9 +48,15 @@ public class CommandPS4Controller extends PS4Controller {
return L2(CommandScheduler.getInstance().getDefaultButtonLoop());
}
@Override
/**
* Constructs an event instance around the L2 button's digital signal.
*
* @param loop the event loop instance to attach the event to.
* @return an event instance representing the L2 button's digital signal attached to the given
* loop.
*/
public Trigger L2(EventLoop loop) {
return super.L2(loop).castTo(Trigger::new);
return m_hid.L2(loop).castTo(Trigger::new);
}
/**
@@ -49,9 +69,15 @@ public class CommandPS4Controller extends PS4Controller {
return R2(CommandScheduler.getInstance().getDefaultButtonLoop());
}
@Override
/**
* Constructs an event instance around the R2 button's digital signal.
*
* @param loop the event loop instance to attach the event to.
* @return an event instance representing the R2 button's digital signal attached to the given
* loop.
*/
public Trigger R2(EventLoop loop) {
return super.R2(loop).castTo(Trigger::new);
return m_hid.R2(loop).castTo(Trigger::new);
}
/**
@@ -64,9 +90,15 @@ public class CommandPS4Controller extends PS4Controller {
return L1(CommandScheduler.getInstance().getDefaultButtonLoop());
}
@Override
/**
* Constructs an event instance around the L1 button's digital signal.
*
* @param loop the event loop instance to attach the event to.
* @return an event instance representing the L1 button's digital signal attached to the given
* loop.
*/
public Trigger L1(EventLoop loop) {
return super.L1(loop).castTo(Trigger::new);
return m_hid.L1(loop).castTo(Trigger::new);
}
/**
@@ -79,9 +111,15 @@ public class CommandPS4Controller extends PS4Controller {
return R1(CommandScheduler.getInstance().getDefaultButtonLoop());
}
@Override
/**
* Constructs an event instance around the R1 button's digital signal.
*
* @param loop the event loop instance to attach the event to.
* @return an event instance representing the R1 button's digital signal attached to the given
* loop.
*/
public Trigger R1(EventLoop loop) {
return super.R1(loop).castTo(Trigger::new);
return m_hid.R1(loop).castTo(Trigger::new);
}
/**
@@ -94,9 +132,15 @@ public class CommandPS4Controller extends PS4Controller {
return L3(CommandScheduler.getInstance().getDefaultButtonLoop());
}
@Override
/**
* Constructs an event instance around the L3 button's digital signal.
*
* @param loop the event loop instance to attach the event to.
* @return an event instance representing the L3 button's digital signal attached to the given
* loop.
*/
public Trigger L3(EventLoop loop) {
return super.L3(loop).castTo(Trigger::new);
return m_hid.L3(loop).castTo(Trigger::new);
}
/**
@@ -109,9 +153,15 @@ public class CommandPS4Controller extends PS4Controller {
return R3(CommandScheduler.getInstance().getDefaultButtonLoop());
}
@Override
/**
* Constructs an event instance around the R3 button's digital signal.
*
* @param loop the event loop instance to attach the event to.
* @return an event instance representing the R3 button's digital signal attached to the given
* loop.
*/
public Trigger R3(EventLoop loop) {
return super.R3(loop).castTo(Trigger::new);
return m_hid.R3(loop).castTo(Trigger::new);
}
/**
@@ -124,9 +174,15 @@ public class CommandPS4Controller extends PS4Controller {
return square(CommandScheduler.getInstance().getDefaultButtonLoop());
}
@Override
/**
* Constructs an event instance around the square button's digital signal.
*
* @param loop the event loop instance to attach the event to.
* @return an event instance representing the square button's digital signal attached to the given
* loop.
*/
public Trigger square(EventLoop loop) {
return super.square(loop).castTo(Trigger::new);
return m_hid.square(loop).castTo(Trigger::new);
}
/**
@@ -139,9 +195,15 @@ public class CommandPS4Controller extends PS4Controller {
return cross(CommandScheduler.getInstance().getDefaultButtonLoop());
}
@Override
/**
* Constructs an event instance around the cross button's digital signal.
*
* @param loop the event loop instance to attach the event to.
* @return an event instance representing the cross button's digital signal attached to the given
* loop.
*/
public Trigger cross(EventLoop loop) {
return super.cross(loop).castTo(Trigger::new);
return m_hid.cross(loop).castTo(Trigger::new);
}
/**
@@ -154,9 +216,15 @@ public class CommandPS4Controller extends PS4Controller {
return circle(CommandScheduler.getInstance().getDefaultButtonLoop());
}
@Override
/**
* Constructs an event instance around the circle button's digital signal.
*
* @param loop the event loop instance to attach the event to.
* @return an event instance representing the circle button's digital signal attached to the given
* loop.
*/
public Trigger circle(EventLoop loop) {
return super.circle(loop).castTo(Trigger::new);
return m_hid.circle(loop).castTo(Trigger::new);
}
/**
@@ -169,9 +237,15 @@ public class CommandPS4Controller extends PS4Controller {
return share(CommandScheduler.getInstance().getDefaultButtonLoop());
}
@Override
/**
* Constructs an event instance around the share button's digital signal.
*
* @param loop the event loop instance to attach the event to.
* @return an event instance representing the share button's digital signal attached to the given
* loop.
*/
public Trigger share(EventLoop loop) {
return super.share(loop).castTo(Trigger::new);
return m_hid.share(loop).castTo(Trigger::new);
}
/**
@@ -184,9 +258,15 @@ public class CommandPS4Controller extends PS4Controller {
return PS(CommandScheduler.getInstance().getDefaultButtonLoop());
}
@Override
/**
* Constructs an event instance around the PS button's digital signal.
*
* @param loop the event loop instance to attach the event to.
* @return an event instance representing the PS button's digital signal attached to the given
* loop.
*/
public Trigger PS(EventLoop loop) {
return super.PS(loop).castTo(Trigger::new);
return m_hid.PS(loop).castTo(Trigger::new);
}
/**
@@ -199,9 +279,15 @@ public class CommandPS4Controller extends PS4Controller {
return options(CommandScheduler.getInstance().getDefaultButtonLoop());
}
@Override
/**
* Constructs an event instance around the options button's digital signal.
*
* @param loop the event loop instance to attach the event to.
* @return an event instance representing the options button's digital signal attached to the
* given loop.
*/
public Trigger options(EventLoop loop) {
return super.options(loop).castTo(Trigger::new);
return m_hid.options(loop).castTo(Trigger::new);
}
/**
@@ -214,8 +300,70 @@ public class CommandPS4Controller extends PS4Controller {
return touchpad(CommandScheduler.getInstance().getDefaultButtonLoop());
}
@Override
/**
* Constructs an event instance around the touchpad's digital signal.
*
* @param loop the event loop instance to attach the event to.
* @return an event instance representing the touchpad's digital signal attached to the given
* loop.
*/
public Trigger touchpad(EventLoop loop) {
return super.touchpad(loop).castTo(Trigger::new);
return m_hid.touchpad(loop).castTo(Trigger::new);
}
/**
* Get the X axis value of left side of the controller.
*
* @return the axis value.
*/
public double getLeftX() {
return m_hid.getLeftX();
}
/**
* Get the X axis value of right side of the controller.
*
* @return the axis value.
*/
public double getRightX() {
return m_hid.getRightX();
}
/**
* Get the Y axis value of left side of the controller.
*
* @return the axis value.
*/
public double getLeftY() {
return m_hid.getLeftY();
}
/**
* Get the Y axis value of right side of the controller.
*
* @return the axis value.
*/
public double getRightY() {
return m_hid.getRightY();
}
/**
* Get the L2 axis value of the controller. Note that this axis is bound to the range of [0, 1] as
* opposed to the usual [-1, 1].
*
* @return the axis value.
*/
public double getL2Axis() {
return m_hid.getL2Axis();
}
/**
* Get the R2 axis value of the controller. Note that this axis is bound to the range of [0, 1] as
* opposed to the usual [-1, 1].
*
* @return the axis value.
*/
public double getR2Axis() {
return m_hid.getR2Axis();
}
}

227
wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/button/CommandXboxController.java
View File

@@ -14,7 +14,9 @@ import edu.wpi.first.wpilibj2.command.CommandScheduler;
* @see XboxController
*/
@SuppressWarnings("MethodName")
public class CommandXboxController extends XboxController {
public class CommandXboxController extends CommandGenericHID {
private final XboxController m_hid;
/**
* Construct an instance of a controller.
*
@@ -22,6 +24,17 @@ public class CommandXboxController extends XboxController {
*/
public CommandXboxController(int port) {
super(port);
m_hid = new XboxController(port);
}
/**
* Get the underlying GenericHID object.
*
* @return the wrapped GenericHID object
*/
@Override
public XboxController getHID() {
return m_hid;
}
/**
@@ -35,9 +48,15 @@ public class CommandXboxController extends XboxController {
return leftBumper(CommandScheduler.getInstance().getDefaultButtonLoop());
}
@Override
/**
* Constructs an event instance around the right bumper's digital signal.
*
* @param loop the event loop instance to attach the event to.
* @return an event instance representing the right bumper's digital signal attached to the given
* loop.
*/
public Trigger leftBumper(EventLoop loop) {
return super.leftBumper(loop).castTo(Trigger::new);
return m_hid.leftBumper(loop).castTo(Trigger::new);
}
/**
@@ -51,9 +70,15 @@ public class CommandXboxController extends XboxController {
return rightBumper(CommandScheduler.getInstance().getDefaultButtonLoop());
}
@Override
/**
* Constructs an event instance around the left bumper's digital signal.
*
* @param loop the event loop instance to attach the event to.
* @return an event instance representing the left bumper's digital signal attached to the given
* loop.
*/
public Trigger rightBumper(EventLoop loop) {
return super.rightBumper(loop).castTo(Trigger::new);
return m_hid.rightBumper(loop).castTo(Trigger::new);
}
/**
@@ -67,9 +92,15 @@ public class CommandXboxController extends XboxController {
return leftStick(CommandScheduler.getInstance().getDefaultButtonLoop());
}
@Override
/**
* Constructs an event instance around the left stick button's digital signal.
*
* @param loop the event loop instance to attach the event to.
* @return an event instance representing the left stick button's digital signal attached to the
* given loop.
*/
public Trigger leftStick(EventLoop loop) {
return super.leftStick(loop).castTo(Trigger::new);
return m_hid.leftStick(loop).castTo(Trigger::new);
}
/**
@@ -83,41 +114,15 @@ public class CommandXboxController extends XboxController {
return rightStick(CommandScheduler.getInstance().getDefaultButtonLoop());
}
@Override
/**
* Constructs an event instance around the right stick button's digital signal.
*
* @param loop the event loop instance to attach the event to.
* @return an event instance representing the right stick button's digital signal attached to the
* given loop.
*/
public Trigger rightStick(EventLoop loop) {
return super.rightStick(loop).castTo(Trigger::new);
}
/**
* Constructs an event instance around the X button's digital signal.
*
* @return an event instance representing the X button's digital signal attached to the {@link
* CommandScheduler#getDefaultButtonLoop() default scheduler button loop}.
* @see #x(EventLoop)
*/
public Trigger x() {
return x(CommandScheduler.getInstance().getDefaultButtonLoop());
}
@Override
public Trigger x(EventLoop loop) {
return super.x(loop).castTo(Trigger::new);
}
/**
* Constructs an event instance around the Y button's digital signal.
*
* @return an event instance representing the Y button's digital signal attached to the {@link
* CommandScheduler#getDefaultButtonLoop() default scheduler button loop}.
* @see #y(EventLoop)
*/
public Trigger y() {
return y(CommandScheduler.getInstance().getDefaultButtonLoop());
}
@Override
public Trigger y(EventLoop loop) {
return super.y(loop).castTo(Trigger::new);
return m_hid.rightStick(loop).castTo(Trigger::new);
}
/**
@@ -131,9 +136,15 @@ public class CommandXboxController extends XboxController {
return a(CommandScheduler.getInstance().getDefaultButtonLoop());
}
@Override
/**
* Constructs an event instance around the A button's digital signal.
*
* @param loop the event loop instance to attach the event to.
* @return an event instance representing the A button's digital signal attached to the given
* loop.
*/
public Trigger a(EventLoop loop) {
return super.a(loop).castTo(Trigger::new);
return m_hid.a(loop).castTo(Trigger::new);
}
/**
@@ -147,9 +158,59 @@ public class CommandXboxController extends XboxController {
return b(CommandScheduler.getInstance().getDefaultButtonLoop());
}
@Override
/**
* Constructs an event instance around the B button's digital signal.
*
* @param loop the event loop instance to attach the event to.
* @return an event instance representing the B button's digital signal attached to the given
* loop.
*/
public Trigger b(EventLoop loop) {
return super.b(loop).castTo(Trigger::new);
return m_hid.b(loop).castTo(Trigger::new);
}
/**
* Constructs an event instance around the X button's digital signal.
*
* @return an event instance representing the X button's digital signal attached to the {@link
* CommandScheduler#getDefaultButtonLoop() default scheduler button loop}.
* @see #x(EventLoop)
*/
public Trigger x() {
return x(CommandScheduler.getInstance().getDefaultButtonLoop());
}
/**
* Constructs an event instance around the X button's digital signal.
*
* @param loop the event loop instance to attach the event to.
* @return an event instance representing the X button's digital signal attached to the given
* loop.
*/
public Trigger x(EventLoop loop) {
return m_hid.x(loop).castTo(Trigger::new);
}
/**
* Constructs an event instance around the Y button's digital signal.
*
* @return an event instance representing the Y button's digital signal attached to the {@link
* CommandScheduler#getDefaultButtonLoop() default scheduler button loop}.
* @see #y(EventLoop)
*/
public Trigger y() {
return y(CommandScheduler.getInstance().getDefaultButtonLoop());
}
/**
* Constructs an event instance around the Y button's digital signal.
*
* @param loop the event loop instance to attach the event to.
* @return an event instance representing the Y button's digital signal attached to the given
* loop.
*/
public Trigger y(EventLoop loop) {
return m_hid.y(loop).castTo(Trigger::new);
}
/**
@@ -163,9 +224,15 @@ public class CommandXboxController extends XboxController {
return start(CommandScheduler.getInstance().getDefaultButtonLoop());
}
@Override
/**
* Constructs an event instance around the start button's digital signal.
*
* @param loop the event loop instance to attach the event to.
* @return an event instance representing the start button's digital signal attached to the given
* loop.
*/
public Trigger start(EventLoop loop) {
return super.start(loop).castTo(Trigger::new);
return m_hid.start(loop).castTo(Trigger::new);
}
/**
@@ -179,8 +246,70 @@ public class CommandXboxController extends XboxController {
return back(CommandScheduler.getInstance().getDefaultButtonLoop());
}
@Override
/**
* Constructs an event instance around the back button's digital signal.
*
* @param loop the event loop instance to attach the event to.
* @return an event instance representing the back button's digital signal attached to the given
* loop.
*/
public Trigger back(EventLoop loop) {
return super.back(loop).castTo(Trigger::new);
return m_hid.back(loop).castTo(Trigger::new);
}
/**
* Get the X axis value of left side of the controller.
*
* @return The axis value.
*/
public double getLeftX() {
return m_hid.getLeftX();
}
/**
* Get the X axis value of right side of the controller.
*
* @return The axis value.
*/
public double getRightX() {
return m_hid.getRightX();
}
/**
* Get the Y axis value of left side of the controller.
*
* @return The axis value.
*/
public double getLeftY() {
return m_hid.getLeftY();
}
/**
* Get the Y axis value of right side of the controller.
*
* @return The axis value.
*/
public double getRightY() {
return m_hid.getRightY();
}
/**
* Get the left trigger (LT) axis value of the controller. Note that this axis is bound to the
* range of [0, 1] as opposed to the usual [-1, 1].
*
* @return The axis value.
*/
public double getLeftTriggerAxis() {
return m_hid.getLeftTriggerAxis();
}
/**
* Get the right trigger (RT) axis value of the controller. Note that this axis is bound to the
* range of [0, 1] as opposed to the usual [-1, 1].
*
* @return The axis value.
*/
public double getRightTriggerAxis() {
return m_hid.getRightTriggerAxis();
}
}