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[commands] Add functions to HID classes to allow use of axes as BooleanEvents/Triggers (#4762)

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This commit is contained in:
Ryan Blue
2022-12-26 14:29:14 -05:00
committed by GitHub
parent 87a34af367
commit 176fddeb4c
12 changed files with 413 additions and 0 deletions
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56
wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/button/CommandGenericHID.java
View File

@@ -187,6 +187,62 @@ public class CommandGenericHID {
return pov(-1);
}
/**
* Constructs a Trigger instance that is true when the axis value is less than {@code threshold},
* attached to {@link CommandScheduler#getDefaultButtonLoop() the default command scheduler button
* loop}.
*
* @param axis The axis to read, starting at 0
* @param threshold The value below which this trigger should return true.
* @return a Trigger instance that is true when the axis value is less than the provided
* threshold.
*/
public Trigger axisLessThan(int axis, double threshold) {
return axisLessThan(axis, threshold, CommandScheduler.getInstance().getDefaultButtonLoop());
}
/**
* Constructs a Trigger instance that is true when the axis value is less than {@code threshold},
* attached to the given loop.
*
* @param axis The axis to read, starting at 0
* @param threshold The value below which this trigger should return true.
* @param loop the event loop instance to attach the trigger to
* @return a Trigger instance that is true when the axis value is less than the provided
* threshold.
*/
public Trigger axisLessThan(int axis, double threshold, EventLoop loop) {
return m_hid.axisLessThan(axis, threshold, loop).castTo(Trigger::new);
}
/**
* Constructs a Trigger instance that is true when the axis value is less than {@code threshold},
* attached to {@link CommandScheduler#getDefaultButtonLoop() the default command scheduler button
* loop}.
*
* @param axis The axis to read, starting at 0
* @param threshold The value above which this trigger should return true.
* @return a Trigger instance that is true when the axis value is greater than the provided
* threshold.
*/
public Trigger axisGreaterThan(int axis, double threshold) {
return axisGreaterThan(axis, threshold, CommandScheduler.getInstance().getDefaultButtonLoop());
}
/**
* Constructs a Trigger instance that is true when the axis value is greater than {@code
* threshold}, attached to the given loop.
*
* @param axis The axis to read, starting at 0
* @param threshold The value above which this trigger should return true.
* @param loop the event loop instance to attach the trigger to.
* @return a Trigger instance that is true when the axis value is greater than the provided
* threshold.
*/
public Trigger axisGreaterThan(int axis, double threshold, EventLoop loop) {
return m_hid.axisGreaterThan(axis, threshold, loop).castTo(Trigger::new);
}
/**
* Get the value of the axis.
*

78
wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/button/CommandXboxController.java
View File

@@ -257,6 +257,84 @@ public class CommandXboxController extends CommandGenericHID {
return m_hid.back(loop).castTo(Trigger::new);
}
/**
* Constructs a Trigger instance around the axis value of the left trigger. The returned trigger
* will be true when the axis value is greater than {@code threshold}.
*
* @param loop the event loop instance to attach the Trigger to.
* @param threshold the minimum axis value for the returned {@link Trigger} to be true. This value
* should be in the range [0, 1] where 0 is the unpressed state of the axis.
* @return a Trigger instance that is true when the left trigger's axis exceeds the provided
* threshold, attached to the given event loop
*/
public Trigger leftTrigger(EventLoop loop, double threshold) {
return m_hid.leftTrigger(threshold, loop).castTo(Trigger::new);
}
/**
* Constructs a Trigger instance around the axis value of the left trigger. The returned trigger
* will be true when the axis value is greater than {@code threshold}.
*
* @param threshold the minimum axis value for the returned {@link Trigger} to be true. This value
* should be in the range [0, 1] where 0 is the unpressed state of the axis.
* @return a Trigger instance that is true when the left trigger's axis exceeds the provided
* threshold, attached to the {@link CommandScheduler#getDefaultButtonLoop() default scheduler
* button loop}.
*/
public Trigger leftTrigger(double threshold) {
return leftTrigger(CommandScheduler.getInstance().getDefaultButtonLoop(), threshold);
}
/**
* Constructs a Trigger instance around the axis value of the left trigger. The returned trigger
* will be true when the axis value is greater than 0.5.
*
* @return a Trigger instance that is true when the left trigger's axis exceeds 0.5, attached to
* the {@link CommandScheduler#getDefaultButtonLoop() default scheduler button loop}.
*/
public Trigger leftTrigger() {
return leftTrigger(0.5);
}
/**
* Constructs a Trigger instance around the axis value of the right trigger. The returned trigger
* will be true when the axis value is greater than {@code threshold}.
*
* @param threshold the minimum axis value for the returned {@link Trigger} to be true. This value
* should be in the range [0, 1] where 0 is the unpressed state of the axis.
* @param loop the event loop instance to attach the Trigger to.
* @return a Trigger instance that is true when the right trigger's axis exceeds the provided
* threshold, attached to the given event loop
*/
public Trigger rightTrigger(double threshold, EventLoop loop) {
return m_hid.rightTrigger(threshold, loop).castTo(Trigger::new);
}
/**
* Constructs a Trigger instance around the axis value of the right trigger. The returned trigger
* will be true when the axis value is greater than {@code threshold}.
*
* @param threshold the minimum axis value for the returned {@link Trigger} to be true. This value
* should be in the range [0, 1] where 0 is the unpressed state of the axis.
* @return a Trigger instance that is true when the right trigger's axis exceeds the provided
* threshold, attached to the {@link CommandScheduler#getDefaultButtonLoop() default scheduler
* button loop}.
*/
public Trigger rightTrigger(double threshold) {
return rightTrigger(threshold, CommandScheduler.getInstance().getDefaultButtonLoop());
}
/**
* Constructs a Trigger instance around the axis value of the right trigger. The returned trigger
* will be true when the axis value is greater than 0.5.
*
* @return a Trigger instance that is true when the right trigger's axis exceeds 0.5, attached to
* the {@link CommandScheduler#getDefaultButtonLoop() default scheduler button loop}.
*/
public Trigger rightTrigger() {
return rightTrigger(0.5);
}
/**
* Get the X axis value of left side of the controller.
*

14
wpilibNewCommands/src/main/native/cpp/frc2/command/button/CommandGenericHID.cpp
View File

@@ -54,3 +54,17 @@ Trigger CommandGenericHID::POVUpLeft(frc::EventLoop* loop) const {
Trigger CommandGenericHID::POVCenter(frc::EventLoop* loop) const {
return POV(360, loop);
}
Trigger CommandGenericHID::AxisLessThan(int axis, double threshold,
frc::EventLoop* loop) const {
return Trigger(loop, [this, axis, threshold]() {
return this->GetRawAxis(axis) < threshold;
});
}
Trigger CommandGenericHID::AxisGreaterThan(int axis, double threshold,
frc::EventLoop* loop) const {
return Trigger(loop, [this, axis, threshold]() {
return this->GetRawAxis(axis) > threshold;
});
}

10
wpilibNewCommands/src/main/native/cpp/frc2/command/button/CommandXboxController.cpp
View File

@@ -49,3 +49,13 @@ Trigger CommandXboxController::Back(frc::EventLoop* loop) const {
Trigger CommandXboxController::Start(frc::EventLoop* loop) const {
return XboxController::Start(loop).CastTo<Trigger>();
}
Trigger CommandXboxController::LeftTrigger(double threshold,
frc::EventLoop* loop) const {
return XboxController::LeftTrigger(threshold, loop).CastTo<Trigger>();
}
Trigger CommandXboxController::RightTrigger(double threshold,
frc::EventLoop* loop) const {
return XboxController::RightTrigger(threshold, loop).CastTo<Trigger>();
}

36
wpilibNewCommands/src/main/native/include/frc2/command/button/CommandGenericHID.h
View File

@@ -179,5 +179,41 @@ class CommandGenericHID : public frc::GenericHID {
*/
Trigger POVCenter(frc::EventLoop* loop = CommandScheduler::GetInstance()
.GetDefaultButtonLoop()) const;
/**
* Constructs a Trigger instance that is true when the axis value is less than
* {@code threshold}, attached to {@link
* CommandScheduler::GetDefaultButtonLoop() the default command scheduler
* button loop}.
* @param axis The axis to read, starting at 0.
* @param threshold The value below which this trigger should return true.
* @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 that is true when the axis value is less than
* the provided threshold.
*/
Trigger AxisLessThan(
int axis, double threshold,
frc::EventLoop* loop =
CommandScheduler::GetInstance().GetDefaultButtonLoop()) const;
/**
* Constructs a Trigger instance that is true when the axis value is greater
* than {@code threshold}, attached to {@link
* CommandScheduler::GetDefaultButtonLoop() the default command scheduler
* button loop}.
* @param axis The axis to read, starting at 0.
* @param threshold The value below which this trigger should return true.
* @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 that is true when the axis value is greater than
* the provided threshold.
*/
Trigger AxisGreaterThan(
int axis, double threshold,
frc::EventLoop* loop =
CommandScheduler::GetInstance().GetDefaultButtonLoop()) const;
};
} // namespace frc2

35
wpilibNewCommands/src/main/native/include/frc2/command/button/CommandXboxController.h
View File

@@ -141,5 +141,40 @@ class CommandXboxController : public frc::XboxController {
*/
Trigger Start(frc::EventLoop* loop = CommandScheduler::GetInstance()
.GetDefaultButtonLoop()) const;
/**
* Constructs a Trigger instance around the axis value of the left trigger.
* The returned Trigger will be true when the axis value is greater than
* {@code threshold}.
*
* @param threshold the minimum axis value for the returned Trigger to be
* true. This value should be in the range [0, 1] where 0 is the unpressed
* state of the axis. Defaults to 0.5.
* @param loop the event loop instance to attach the Trigger to. Defaults to
* the CommandScheduler's default loop.
* @return a Trigger instance that is true when the left trigger's axis
* exceeds the provided threshold, attached to the given loop
*/
Trigger LeftTrigger(double threshold = 0.5,
frc::EventLoop* loop = CommandScheduler::GetInstance()
.GetDefaultButtonLoop()) const;
/**
* Constructs a Trigger instance around the axis value of the right trigger.
* The returned Trigger will be true when the axis value is greater than
* {@code threshold}.
*
* @param threshold the minimum axis value for the returned Trigger to be
* true. This value should be in the range [0, 1] where 0 is the unpressed
* state of the axis. Defaults to 0.5.
* @param loop the event loop instance to attach the Trigger to. Defaults to
* the CommandScheduler's default loop.
* @return a Trigger instance that is true when the right trigger's axis
* exceeds the provided threshold, attached to the given loop
*/
Trigger RightTrigger(
double threshold = 0.5,
frc::EventLoop* loop =
CommandScheduler::GetInstance().GetDefaultButtonLoop()) const;
};
} // namespace frc2

14
wpilibc/src/main/native/cpp/GenericHID.cpp
View File

@@ -89,6 +89,20 @@ BooleanEvent GenericHID::POVCenter(EventLoop* loop) const {
return POV(360, loop);
}
BooleanEvent GenericHID::AxisLessThan(int axis, double threshold,
EventLoop* loop) const {
return BooleanEvent(loop, [this, axis, threshold]() {
return this->GetRawAxis(axis) < threshold;
});
}
BooleanEvent GenericHID::AxisGreaterThan(int axis, double threshold,
EventLoop* loop) const {
return BooleanEvent(loop, [this, axis, threshold]() {
return this->GetRawAxis(axis) > threshold;
});
}
int GenericHID::GetAxisCount() const {
return DriverStation::GetStickAxisCount(m_port);
}

22
wpilibc/src/main/native/cpp/XboxController.cpp
View File

@@ -197,3 +197,25 @@ bool XboxController::GetStartButtonReleased() {
BooleanEvent XboxController::Start(EventLoop* loop) const {
return BooleanEvent(loop, [this]() { return this->GetStartButton(); });
}
BooleanEvent XboxController::LeftTrigger(double threshold,
EventLoop* loop) const {
return BooleanEvent(loop, [this, threshold]() {
return this->GetLeftTriggerAxis() > threshold;
});
}
BooleanEvent XboxController::LeftTrigger(EventLoop* loop) const {
return this->LeftTrigger(0.5, loop);
}
BooleanEvent XboxController::RightTrigger(double threshold,
EventLoop* loop) const {
return BooleanEvent(loop, [this, threshold]() {
return this->GetRightTriggerAxis() > threshold;
});
}
BooleanEvent XboxController::RightTrigger(EventLoop* loop) const {
return this->RightTrigger(0.5, loop);
}

25
wpilibc/src/main/native/include/frc/GenericHID.h
View File

@@ -231,6 +231,31 @@ class GenericHID {
*/
BooleanEvent POVCenter(EventLoop* loop) const;
/**
* Constructs an event instance that is true when the axis value is less than
* threshold
*
* @param axis The axis to read, starting at 0.
* @param threshold The value below which this trigger should return true.
* @param loop the event loop instance to attach the event to.
* @return an event instance that is true when the axis value is less than the
* provided threshold.
*/
BooleanEvent AxisLessThan(int axis, double threshold, EventLoop* loop) const;
/**
* Constructs an event instance that is true when the axis value is greater
* than threshold
*
* @param axis The axis to read, starting at 0.
* @param threshold The value above which this trigger should return true.
* @param loop the event loop instance to attach the event to.
* @return an event instance that is true when the axis value is greater than
* the provided threshold.
*/
BooleanEvent AxisGreaterThan(int axis, double threshold,
EventLoop* loop) const;
/**
* Get the number of axes for the HID.
*

44
wpilibc/src/main/native/include/frc/XboxController.h
View File

@@ -342,6 +342,50 @@ class XboxController : public GenericHID {
*/
BooleanEvent Start(EventLoop* loop) const;
/**
* Constructs an event instance around the axis value of the left trigger. The
* returned trigger will be true when the axis value is greater than {@code
* threshold}.
* @param threshold the minimum axis value for the returned event to be true.
* This value should be in the range [0, 1] where 0 is the unpressed state of
* the axis.
* @param loop the event loop instance to attach the event to.
* @return an event instance that is true when the left trigger's axis exceeds
* the provided threshold, attached to the given event loop
*/
BooleanEvent LeftTrigger(double threshold, EventLoop* loop) const;
/**
* Constructs an event instance around the axis value of the left trigger.
* The returned trigger will be true when the axis value is greater than 0.5.
* @param loop the event loop instance to attach the event to.
* @return an event instance that is true when the right trigger's axis
* exceeds 0.5, attached to the given event loop
*/
BooleanEvent LeftTrigger(EventLoop* loop) const;
/**
* Constructs an event instance around the axis value of the right trigger.
* The returned trigger will be true when the axis value is greater than
* {@code threshold}.
* @param threshold the minimum axis value for the returned event to be true.
* This value should be in the range [0, 1] where 0 is the unpressed state of
* the axis.
* @param loop the event loop instance to attach the event to.
* @return an event instance that is true when the right trigger's axis
* exceeds the provided threshold, attached to the given event loop
*/
BooleanEvent RightTrigger(double threshold, EventLoop* loop) const;
/**
* Constructs an event instance around the axis value of the right trigger.
* The returned trigger will be true when the axis value is greater than 0.5.
* @param loop the event loop instance to attach the event to.
* @return an event instance that is true when the right trigger's axis
* exceeds 0.5, attached to the given event loop
*/
BooleanEvent RightTrigger(EventLoop* loop) const;
struct Button {
static constexpr int kLeftBumper = 5;
static constexpr int kRightBumper = 6;

27
wpilibj/src/main/java/edu/wpi/first/wpilibj/GenericHID.java
View File

@@ -297,6 +297,33 @@ public class GenericHID {
return pov(-1, loop);
}
/**
* Constructs an event instance that is true when the axis value is less than {@code threshold},
* attached to the given loop.
*
* @param axis The axis to read, starting at 0
* @param threshold The value below which this event should return true.
* @param loop the event loop instance to attach the event to.
* @return an event instance that is true when the axis value is less than the provided threshold.
*/
public BooleanEvent axisLessThan(int axis, double threshold, EventLoop loop) {
return new BooleanEvent(loop, () -> getRawAxis(axis) < threshold);
}
/**
* Constructs an event instance that is true when the axis value is greater than {@code
* threshold}, attached to the given loop.
*
* @param axis The axis to read, starting at 0
* @param threshold The value above which this event should return true.
* @param loop the event loop instance to attach the event to.
* @return an event instance that is true when the axis value is greater than the provided
* threshold.
*/
public BooleanEvent axisGreaterThan(int axis, double threshold, EventLoop loop) {
return new BooleanEvent(loop, () -> getRawAxis(axis) > threshold);
}
/**
* Get the number of axes for the HID.
*

52
wpilibj/src/main/java/edu/wpi/first/wpilibj/XboxController.java
View File

@@ -537,4 +537,56 @@ public class XboxController extends GenericHID {
public BooleanEvent start(EventLoop loop) {
return new BooleanEvent(loop, this::getStartButton);
}
/**
* Constructs an event instance around the axis value of the right trigger. The returned trigger
* will be true when the axis value is greater than {@code threshold}.
*
* @param threshold the minimum axis value for the returned {@link BooleanEvent} to be true. This
* value should be in the range [0, 1] where 0 is the unpressed state of the axis.
* @param loop the event loop instance to attach the event to.
* @return an event instance that is true when the right trigger's axis exceeds the provided
* threshold, attached to the given event loop
*/
public BooleanEvent leftTrigger(double threshold, EventLoop loop) {
return new BooleanEvent(loop, () -> getLeftTriggerAxis() > threshold);
}
/**
* Constructs an event instance around the axis value of the right trigger. The returned trigger
* will be true when the axis value is greater than 0.5.
*
* @param loop the event loop instance to attach the event to.
* @return an event instance that is true when the right trigger's axis exceeds the provided
* threshold, attached to the given event loop
*/
public BooleanEvent leftTrigger(EventLoop loop) {
return leftTrigger(0.5, loop);
}
/**
* Constructs an event instance around the axis value of the right trigger. The returned trigger
* will be true when the axis value is greater than {@code threshold}.
*
* @param threshold the minimum axis value for the returned {@link BooleanEvent} to be true. This
* value should be in the range [0, 1] where 0 is the unpressed state of the axis.
* @param loop the event loop instance to attach the event to.
* @return an event instance that is true when the right trigger's axis exceeds the provided
* threshold, attached to the given event loop
*/
public BooleanEvent rightTrigger(double threshold, EventLoop loop) {
return new BooleanEvent(loop, () -> getRightTriggerAxis() > threshold);
}
/**
* Constructs an event instance around the axis value of the right trigger. The returned trigger
* will be true when the axis value is greater than 0.5.
*
* @param loop the event loop instance to attach the event to.
* @return an event instance that is true when the right trigger's axis exceeds the provided
* threshold, attached to the given event loop
*/
public BooleanEvent rightTrigger(EventLoop loop) {
return rightTrigger(0.5, loop);
}
}