[robotpy] Mirror robotpy's commands-v2 (#8369)

Project import generated by Copybara.

GitOrigin-RevId: 715c8e8372d936f447f2937aab6b1a22dc619126

commandsv2/src/main/python/commands2/button/commandjoystick.py

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+# validated: 2024-01-20 DS 92aecab2ef05 button/CommandJoystick.java
+from typing import Optional
+
+from wpilib import Joystick
+from wpilib.event import EventLoop
+
+from ..commandscheduler import CommandScheduler
+from .commandgenerichid import CommandGenericHID
+from .trigger import Trigger
+
+
+class CommandJoystick(CommandGenericHID):
+    """
+    A version of :class:`wpilib.Joystick` with :class:`.Trigger` factories for command-based.
+    """
+
+    _hid: Joystick
+
+    def __init__(self, port: int):
+        """
+        Construct an instance of a controller.
+
+        :param port: The port index on the Driver Station that the controller is plugged into.
+        """
+
+        super().__init__(port)
+        self._hid = Joystick(port)
+
+    def getHID(self) -> Joystick:
+        """
+        Get the underlying GenericHID object.
+
+        :returns: the wrapped GenericHID object
+        """
+        return self._hid
+
+    def trigger(self, loop: Optional[EventLoop] = None) -> Trigger:
+        """
+        Constructs an event instance around the trigger button's digital signal.
+
+        :param loop: the event loop instance to attach the event to, defaults
+                     to :func:`commands2.CommandScheduler.getDefaultButtonLoop`
+
+        :returns: an event instance representing the trigger button's digital signal attached to the
+            given loop.
+        """
+        if loop is None:
+            loop = CommandScheduler.getInstance().getDefaultButtonLoop()
+        return Trigger(loop, lambda: self._hid.getTrigger())
+
+    def top(self, loop: Optional[EventLoop] = None) -> Trigger:
+        """
+        Constructs an event instance around the top button's digital signal.
+
+        :param loop: the event loop instance to attach the event to, defaults
+                     to :func:`commands2.CommandScheduler.getDefaultButtonLoop`
+
+        :returns: an event instance representing the top button's digital signal attached to the given
+                  loop.
+        """
+        if loop is None:
+            loop = CommandScheduler.getInstance().getDefaultButtonLoop()
+        return Trigger(loop, lambda: self._hid.getTop())
+
+    def setXChannel(self, channel: int):
+        """
+        Set the channel associated with the X axis.
+
+        :param channel: The channel to set the axis to.
+        """
+        self._hid.setXChannel(channel)
+
+    def setYChannel(self, channel: int):
+        """
+        Set the channel associated with the Y axis.
+
+        :param channel: The channel to set the axis to.
+        """
+        self._hid.setYChannel(channel)
+
+    def setZChannel(self, channel: int):
+        """
+        Set the channel associated with the Z axis.
+
+        :param channel: The channel to set the axis to.
+        """
+        self._hid.setZChannel(channel)
+
+    def setThrottleChannel(self, channel: int):
+        """
+        Set the channel associated with the throttle axis.
+
+        :param channel: The channel to set the axis to.
+        """
+        self._hid.setThrottleChannel(channel)
+
+    def setTwistChannel(self, channel: int):
+        """
+        Set the channel associated with the twist axis.
+
+        :param channel: The channel to set the axis to.
+        """
+        self._hid.setTwistChannel(channel)
+
+    def getXChannel(self) -> int:
+        """
+        Get the channel currently associated with the X axis.
+
+        :returns: The channel for the axis.
+        """
+        return self._hid.getXChannel()
+
+    def getYChannel(self) -> int:
+        """
+        Get the channel currently associated with the Y axis.
+
+        :returns: The channel for the axis.
+        """
+        return self._hid.getYChannel()
+
+    def getZChannel(self) -> int:
+        """
+        Get the channel currently associated with the Z axis.
+
+        :returns: The channel for the axis.
+        """
+        return self._hid.getZChannel()
+
+    def getTwistChannel(self) -> int:
+        """
+        Get the channel currently associated with the twist axis.
+
+        :returns: The channel for the axis.
+        """
+        return self._hid.getTwistChannel()
+
+    def getThrottleChannel(self) -> int:
+        """
+        Get the channel currently associated with the throttle axis.
+
+        :returns: The channel for the axis.
+        """
+        return self._hid.getThrottleChannel()
+
+    def getX(self) -> float:
+        """
+        Get the x position of the HID.
+
+        This depends on the mapping of the joystick connected to the current port. On most
+        joysticks, positive is to the right.
+
+        :returns: the x position
+        """
+        return self._hid.getX()
+
+    def getY(self) -> float:
+        """
+        Get the y position of the HID.
+
+        This depends on the mapping of the joystick connected to the current port. On most
+        joysticks, positive is to the back.
+
+        :returns: the y position
+        """
+        return self._hid.getY()
+
+    def getZ(self) -> float:
+        """
+        Get the z position of the HID.
+
+        :returns: the z position
+        """
+        return self._hid.getZ()
+
+    def getTwist(self) -> float:
+        """
+        Get the twist value of the current joystick. This depends on the mapping of the joystick
+        connected to the current port.
+
+        :returns: The Twist value of the joystick.
+        """
+        return self._hid.getTwist()
+
+    def getThrottle(self) -> float:
+        """
+        Get the throttle value of the current joystick. This depends on the mapping of the joystick
+        connected to the current port.
+
+        :returns: The Throttle value of the joystick.
+        """
+        return self._hid.getThrottle()
+
+    def getMagnitude(self) -> float:
+        """
+        Get the magnitude of the vector formed by the joystick's current position relative to its
+        origin.
+
+        :returns: The magnitude of the direction vector
+        """
+        return self._hid.getMagnitude()
+
+    def getDirectionRadians(self) -> float:
+        """
+        Get the direction of the vector formed by the joystick and its origin in radians. 0 is forward
+        and clockwise is positive. (Straight right is π/2.)
+
+        :returns: The direction of the vector in radians
+        """
+        # https://docs.wpilib.org/en/stable/docs/software/basic-programming/coordinate-system.html#joystick-and-controller-coordinate-system
+        # A positive rotation around the X axis moves the joystick right, and a
+        # positive rotation around the Y axis moves the joystick backward. When
+        # treating them as translations, 0 radians is measured from the right
+        # direction, and angle increases clockwise.
+        #
+        # It's rotated 90 degrees CCW (y is negated and the arguments are reversed)
+        # so that 0 radians is forward.
+        return self._hid.getDirectionRadians()
+
+    def getDirectionDegrees(self) -> float:
+        """
+        Get the direction of the vector formed by the joystick and its origin in degrees. 0 is forward
+        and clockwise is positive. (Straight right is 90.)
+
+        :returns: The direction of the vector in degrees
+        """
+        return self._hid.getDirectionDegrees()