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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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14
wpilibNewCommands/src/main/native/cpp/frc2/command/button/CommandGenericHID.cpp
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@@ -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
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@@ -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>();
}