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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.
*