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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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25
wpilibc/src/main/native/include/frc/GenericHID.h
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@@ -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
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@@ -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;