Added functions for detecting button press and release events (#626)

I also shuffled around the HID interfaces to be more intuitive, deprecated some
Joystick and XboxController member functions, and deprecated the JoystickBase
and GamepadBase classes.

Supersedes #89.

wpilibj/src/main/java/edu/wpi/first/wpilibj/DriverStation.java

@@ -81,6 +81,11 @@ public class DriverStation implements RobotState.Interface {
   private HALJoystickAxes[] m_joystickAxesCache = new HALJoystickAxes[kJoystickPorts];
   private HALJoystickPOVs[] m_joystickPOVsCache = new HALJoystickPOVs[kJoystickPorts];
   private HALJoystickButtons[] m_joystickButtonsCache = new HALJoystickButtons[kJoystickPorts];
+
+  // Joystick button rising/falling edge flags
+  HALJoystickButtons[] m_joystickButtonsPressed = new HALJoystickButtons[kJoystickPorts];
+  HALJoystickButtons[] m_joystickButtonsReleased = new HALJoystickButtons[kJoystickPorts];
+
   // preallocated byte buffer for button count
   private ByteBuffer m_buttonCountBuffer = ByteBuffer.allocateDirect(1);
 
@@ -126,6 +131,9 @@ public class DriverStation implements RobotState.Interface {
       m_joystickButtonsCache[i] = new HALJoystickButtons();
       m_joystickAxesCache[i] = new HALJoystickAxes(HAL.kMaxJoystickAxes);
       m_joystickPOVsCache[i] = new HALJoystickPOVs(HAL.kMaxJoystickPOVs);
+
+      m_joystickButtonsPressed[i].m_buttons = 0;
+      m_joystickButtonsReleased[i].m_buttons = 0;
     }
 
     m_controlWordMutex = new Object();
@@ -188,6 +196,89 @@ public class DriverStation implements RobotState.Interface {
     HAL.sendError(isError, code, false, error, locString, printTrace ? traceString : "", true);
   }
 
+  /**
+   * The state of one joystick button. Button indexes begin at 1.
+   *
+   * @param stick  The joystick to read.
+   * @param button The button index, beginning at 1.
+   * @return The state of the joystick button.
+   */
+  public boolean getStickButton(final int stick, final int button) {
+    if (button <= 0) {
+      reportJoystickUnpluggedError("Button indexes begin at 1 in WPILib for C++ and Java\n");
+      return false;
+    }
+    if (stick < 0 || stick >= kJoystickPorts) {
+      throw new RuntimeException("Joystick index is out of range, should be 0-3");
+    }
+    boolean error = false;
+    boolean retVal = false;
+    synchronized (m_joystickMutex) {
+      if (button > m_joystickButtons[stick].m_count) {
+        error = true;
+        retVal = false;
+      } else {
+        retVal = (m_joystickButtons[stick].m_buttons & 1 << (button - 1)) != 0;
+      }
+    }
+    if (error) {
+      reportJoystickUnpluggedWarning("Joystick Button " + button + " on port " + stick
+          + " not available, check if controller is plugged in");
+    }
+    return retVal;
+  }
+
+  /**
+   * Whether one joystick button was pressed since the last check. Button indexes begin at 1.
+   *
+   * @param stick  The joystick to read.
+   * @param button The button index, beginning at 1.
+   * @return Whether the joystick button was pressed since the last check.
+   */
+  boolean getStickButtonPressed(final int stick, final int button) {
+    if (button <= 0) {
+      reportJoystickUnpluggedError("Button indexes begin at 1 in WPILib for C++ and Java\n");
+      return false;
+    }
+    if (stick < 0 || stick >= kJoystickPorts) {
+      throw new RuntimeException("Joystick index is out of range, should be 0-3");
+    }
+
+    // If button was pressed, clear flag and return true
+    if ((m_joystickButtonsPressed[stick].m_buttons & 1 << (button - 1)) != 0) {
+      m_joystickButtonsPressed[stick].m_buttons &= ~(1 << (button - 1));
+      return true;
+    } else {
+      return false;
+    }
+  }
+
+  /**
+   * Whether one joystick button was released since the last check. Button indexes
+   * begin at 1.
+   *
+   * @param stick  The joystick to read.
+   * @param button The button index, beginning at 1.
+   * @return Whether the joystick button was released since the last check.
+   */
+  boolean getStickButtonReleased(final int stick, final int button) {
+    if (button <= 0) {
+      reportJoystickUnpluggedError("Button indexes begin at 1 in WPILib for C++ and Java\n");
+      return false;
+    }
+    if (stick < 0 || stick >= kJoystickPorts) {
+      throw new RuntimeException("Joystick index is out of range, should be 0-3");
+    }
+
+    // If button was released, clear flag and return true
+    if ((m_joystickButtonsReleased[stick].m_buttons & 1 << (button - 1)) != 0) {
+      m_joystickButtonsReleased[stick].m_buttons &= ~(1 << (button - 1));
+      return true;
+    } else {
+      return false;
+    }
+  }
+
   /**
    * Get the value of the axis on a joystick. This depends on the mapping of the joystick connected
    * to the specified port.
@@ -266,38 +357,6 @@ public class DriverStation implements RobotState.Interface {
     }
   }
 
-  /**
-   * The state of one joystick button. Button indexes begin at 1.
-   *
-   * @param stick  The joystick to read.
-   * @param button The button index, beginning at 1.
-   * @return The state of the joystick button.
-   */
-  public boolean getStickButton(final int stick, byte button) {
-    if (button <= 0) {
-      reportJoystickUnpluggedError("Button indexes begin at 1 in WPILib for C++ and Java\n");
-      return false;
-    }
-    if (stick < 0 || stick >= kJoystickPorts) {
-      throw new RuntimeException("Joystick index is out of range, should be 0-3");
-    }
-    boolean error = false;
-    boolean retVal = false;
-    synchronized (m_joystickMutex) {
-      if (button > m_joystickButtons[stick].m_count) {
-        error = true;
-        retVal = false;
-      } else {
-        retVal = ((0x1 << (button - 1)) & m_joystickButtons[stick].m_buttons) != 0;
-      }
-    }
-    if (error) {
-      reportJoystickUnpluggedWarning("Joystick Button " + button + " on port " + stick
-          + " not available, check if controller is plugged in");
-    }
-    return retVal;
-  }
-
   /**
    * Returns the number of axes on a given joystick port.
    *
@@ -717,6 +776,16 @@ public class DriverStation implements RobotState.Interface {
 
     // lock joystick mutex to swap cache data
     synchronized (m_joystickMutex) {
+      for (int i = 0; i < kJoystickPorts; i++) {
+        // If buttons weren't pressed and are now, set flags in m_buttonsPressed
+        m_joystickButtonsPressed[i].m_buttons |=
+            ~m_joystickButtons[i].m_buttons & m_joystickButtonsCache[i].m_buttons;
+
+        // If buttons were pressed and aren't now, set flags in m_buttonsReleased
+        m_joystickButtonsReleased[i].m_buttons |=
+            m_joystickButtons[i].m_buttons & ~m_joystickButtonsCache[i].m_buttons;
+      }
+
       // move cache to actual data
       HALJoystickAxes[] currentAxes = m_joystickAxes;
       m_joystickAxes = m_joystickAxesCache;

wpilibj/src/main/java/edu/wpi/first/wpilibj/GamepadBase.java

@@ -9,7 +9,10 @@ package edu.wpi.first.wpilibj;
 
 /**
  * Gamepad Interface.
+ *
+ * @deprecated Inherit directly from GenericHID instead.
  */
+@Deprecated
 public abstract class GamepadBase extends GenericHID {
   public GamepadBase(int port) {
     super(port);

wpilibj/src/main/java/edu/wpi/first/wpilibj/GenericHID.java

@@ -7,6 +7,8 @@
 
 package edu.wpi.first.wpilibj;
 
+import edu.wpi.first.wpilibj.hal.HAL;
+
 /**
  * GenericHID Interface.
  */
@@ -59,9 +61,14 @@ public abstract class GenericHID {
     }
   }
 
+  private DriverStation m_ds;
   private final int m_port;
+  private int m_outputs;
+  private short m_leftRumble;
+  private short m_rightRumble;
 
   public GenericHID(int port) {
+    m_ds = DriverStation.getInstance();
     m_port = port;
   }
 
@@ -100,20 +107,49 @@ public abstract class GenericHID {
   public abstract double getY(Hand hand);
 
   /**
-   * Get the raw axis.
+   * Get the button value (starting at button 1).
    *
-   * @param which index of the axis
-   * @return the raw value of the selected axis
+   * <p>The buttons are returned in a single 16 bit value with one bit representing the state of
+   * each button. The appropriate button is returned as a boolean value.
+   *
+   * @param button The button number to be read (starting at 1)
+   * @return The state of the button.
    */
-  public abstract double getRawAxis(int which);
+  public boolean getRawButton(int button) {
+    return m_ds.getStickButton(m_port, (byte) button);
+  }
 
   /**
-   * Is the given button pressed.
+   * Whether the button was pressed since the last check. Button indexes begin at
+   * 1.
    *
-   * @param button which button number
-   * @return true if the button is pressed
+   * @param button The button index, beginning at 1.
+   * @return Whether the button was pressed since the last check.
    */
-  public abstract boolean getRawButton(int button);
+  public boolean getRawButtonPressed(int button) {
+    return m_ds.getStickButtonPressed(m_port, (byte) button);
+  }
+
+  /**
+   * Whether the button was released since the last check. Button indexes begin at
+   * 1.
+   *
+   * @param button The button index, beginning at 1.
+   * @return Whether the button was released since the last check.
+   */
+  public boolean getRawButtonReleased(int button) {
+    return m_ds.getStickButtonReleased(m_port, button);
+  }
+
+  /**
+   * Get the value of the axis.
+   *
+   * @param axis The axis to read, starting at 0.
+   * @return The value of the axis.
+   */
+  public double getRawAxis(int axis) {
+    return m_ds.getStickAxis(m_port, axis);
+  }
 
   /**
    * Get the angle in degrees of a POV on the HID.
@@ -124,16 +160,63 @@ public abstract class GenericHID {
    * @param pov The index of the POV to read (starting at 0)
    * @return the angle of the POV in degrees, or -1 if the POV is not pressed.
    */
-  public abstract int getPOV(int pov);
+  public int getPOV(int pov) {
+    return m_ds.getStickPOV(m_port, pov);
+  }
 
   public int getPOV() {
     return getPOV(0);
   }
 
+  /**
+   * Get the number of axes for the HID.
+   *
+   * @return the number of axis for the current HID
+   */
+  public int getAxisCount() {
+    return m_ds.getStickAxisCount(m_port);
+  }
+
   /**
    * For the current HID, return the number of POVs.
    */
-  public abstract int getPOVCount();
+  public int getPOVCount() {
+    return m_ds.getStickPOVCount(m_port);
+  }
+
+  /**
+   * For the current HID, return the number of buttons.
+   */
+  public int getButtonCount() {
+    return m_ds.getStickButtonCount(m_port);
+  }
+
+  /**
+   * Get the type of the HID.
+   *
+   * @return the type of the HID.
+   */
+  public HIDType getType() {
+    return HIDType.values()[m_ds.getJoystickType(m_port)];
+  }
+
+  /**
+   * Get the name of the HID.
+   *
+   * @return the name of the HID.
+   */
+  public String getName() {
+    return m_ds.getJoystickName(m_port);
+  }
+
+  /**
+   * Get the axis type of a joystick axis.
+   *
+   * @return the axis type of a joystick axis.
+   */
+  public int getAxisType(int axis) {
+    return m_ds.getJoystickAxisType(m_port, axis);
+  }
 
   /**
    * Get the port number of the HID.
@@ -144,34 +227,26 @@ public abstract class GenericHID {
     return m_port;
   }
 
-  /**
-   * Get the type of the HID.
-   *
-   * @return the type of the HID.
-   */
-  public abstract HIDType getType();
-
-  /**
-   * Get the name of the HID.
-   *
-   * @return the name of the HID.
-   */
-  public abstract String getName();
-
   /**
    * Set a single HID output value for the HID.
    *
    * @param outputNumber The index of the output to set (1-32)
    * @param value        The value to set the output to
    */
-  public abstract void setOutput(int outputNumber, boolean value);
+  public void setOutput(int outputNumber, boolean value) {
+    m_outputs = (m_outputs & ~(1 << (outputNumber - 1))) | ((value ? 1 : 0) << (outputNumber - 1));
+    HAL.setJoystickOutputs((byte) m_port, m_outputs, m_leftRumble, m_rightRumble);
+  }
 
   /**
    * Set all HID output values for the HID.
    *
    * @param value The 32 bit output value (1 bit for each output)
    */
-  public abstract void setOutputs(int value);
+  public void setOutputs(int value) {
+    m_outputs = value;
+    HAL.setJoystickOutputs((byte) m_port, m_outputs, m_leftRumble, m_rightRumble);
+  }
 
   /**
    * Set the rumble output for the HID. The DS currently supports 2 rumble values, left rumble and
@@ -180,5 +255,17 @@ public abstract class GenericHID {
    * @param type  Which rumble value to set
    * @param value The normalized value (0 to 1) to set the rumble to
    */
-  public abstract void setRumble(RumbleType type, double value);
+  public void setRumble(RumbleType type, double value) {
+    if (value < 0) {
+      value = 0;
+    } else if (value > 1) {
+      value = 1;
+    }
+    if (type == RumbleType.kLeftRumble) {
+      m_leftRumble = (short) (value * 65535);
+    } else {
+      m_rightRumble = (short) (value * 65535);
+    }
+    HAL.setJoystickOutputs((byte) m_port, m_outputs, m_leftRumble, m_rightRumble);
+  }
 }

wpilibj/src/main/java/edu/wpi/first/wpilibj/Joystick.java

@@ -11,26 +11,25 @@ import edu.wpi.first.wpilibj.hal.FRCNetComm.tResourceType;
 import edu.wpi.first.wpilibj.hal.HAL;
 
 /**
- * Handle input from standard Joysticks connected to the Driver Station. This class handles standard
- * input that comes from the Driver Station. Each time a value is requested the most recent value is
- * returned. There is a single class instance for each joystick and the mapping of ports to hardware
- * buttons depends on the code in the Driver Station.
+ * Handle input from standard Joysticks connected to the Driver Station.
+ *
+ * <p>This class handles standard input that comes from the Driver Station. Each time a value is
+ * requested the most recent value is returned. There is a single class instance for each joystick
+ * and the mapping of ports to hardware buttons depends on the code in the Driver Station.
  */
-public class Joystick extends JoystickBase {
-
+public class Joystick extends GenericHID {
   static final byte kDefaultXAxis = 0;
   static final byte kDefaultYAxis = 1;
   static final byte kDefaultZAxis = 2;
   static final byte kDefaultTwistAxis = 2;
   static final byte kDefaultThrottleAxis = 3;
-  static final int kDefaultTriggerButton = 1;
-  static final int kDefaultTopButton = 2;
+  static final byte kMinNumAxes = 4;
 
   /**
    * Represents an analog axis on a joystick.
    */
   public enum AxisType {
-    kX(0), kY(1), kZ(2), kTwist(3), kThrottle(4), kNumAxis(5);
+    kX(0), kY(1), kZ(2), kTwist(3), kThrottle(4);
 
     @SuppressWarnings("MemberName")
     public final int value;
@@ -41,10 +40,10 @@ public class Joystick extends JoystickBase {
   }
 
   /**
-   * Represents a digital button on the JoyStick.
+   * Represents a digital button on a joystick.
    */
   public enum ButtonType {
-    kTrigger(0), kTop(1), kNumButton(2);
+    kTrigger(1), kTop(2);
 
     @SuppressWarnings("MemberName")
     public final int value;
@@ -54,12 +53,35 @@ public class Joystick extends JoystickBase {
     }
   }
 
-  private final DriverStation m_ds;
+  /**
+   * Represents a digital button on a joystick.
+   */
+  private enum Button {
+    kTrigger(1), kTop(2);
+
+    @SuppressWarnings("MemberName")
+    public final int value;
+
+    Button(int value) {
+      this.value = value;
+    }
+  }
+
+  /**
+   * Represents an analog axis on a joystick.
+   */
+  private enum Axis {
+    kX(0), kY(1), kZ(2), kTwist(3), kThrottle(4);
+
+    @SuppressWarnings("MemberName")
+    public final int value;
+
+    Axis(int value) {
+      this.value = value;
+    }
+  }
+
   private final byte[] m_axes;
-  private final byte[] m_buttons;
-  private int m_outputs;
-  private short m_leftRumble;
-  private short m_rightRumble;
 
   /**
    * Construct an instance of a joystick. The joystick index is the USB port on the drivers
@@ -68,36 +90,131 @@ public class Joystick extends JoystickBase {
    * @param port The port on the Driver Station that the joystick is plugged into.
    */
   public Joystick(final int port) {
-    this(port, AxisType.kNumAxis.value, ButtonType.kNumButton.value);
+    super(port);
 
-    m_axes[AxisType.kX.value] = kDefaultXAxis;
-    m_axes[AxisType.kY.value] = kDefaultYAxis;
-    m_axes[AxisType.kZ.value] = kDefaultZAxis;
-    m_axes[AxisType.kTwist.value] = kDefaultTwistAxis;
-    m_axes[AxisType.kThrottle.value] = kDefaultThrottleAxis;
+    m_axes = new byte[Math.max(getAxisCount(), kMinNumAxes)];
 
-    m_buttons[ButtonType.kTrigger.value] = kDefaultTriggerButton;
-    m_buttons[ButtonType.kTop.value] = kDefaultTopButton;
+    m_axes[Axis.kX.value] = kDefaultXAxis;
+    m_axes[Axis.kY.value] = kDefaultYAxis;
+    m_axes[Axis.kZ.value] = kDefaultZAxis;
+    m_axes[Axis.kTwist.value] = kDefaultTwistAxis;
+    m_axes[Axis.kThrottle.value] = kDefaultThrottleAxis;
 
     HAL.report(tResourceType.kResourceType_Joystick, port);
   }
 
   /**
-   * Protected version of the constructor to be called by sub-classes.
+   * Set the channel associated with the X axis.
    *
-   * <p>This constructor allows the subclass to configure the number of constants for axes and
-   * buttons.
-   *
-   * @param port           The port on the Driver Station that the joystick is plugged into.
-   * @param numAxisTypes   The number of axis types in the enum.
-   * @param numButtonTypes The number of button types in the enum.
+   * @param channel The channel to set the axis to.
    */
-  protected Joystick(int port, int numAxisTypes, int numButtonTypes) {
-    super(port);
+  public void setXChannel(int channel) {
+    m_axes[Axis.kX.value] = (byte) channel;
+  }
 
-    m_ds = DriverStation.getInstance();
-    m_axes = new byte[numAxisTypes];
-    m_buttons = new byte[numButtonTypes];
+  /**
+   * Set the channel associated with the Y axis.
+   *
+   * @param channel The channel to set the axis to.
+   */
+  public void setYChannel(int channel) {
+    m_axes[Axis.kY.value] = (byte) channel;
+  }
+
+  /**
+   * Set the channel associated with the Z axis.
+   *
+   * @param channel The channel to set the axis to.
+   */
+  public void setZChannel(int channel) {
+    m_axes[Axis.kZ.value] = (byte) channel;
+  }
+
+  /**
+   * Set the channel associated with the throttle axis.
+   *
+   * @param channel The channel to set the axis to.
+   */
+  public void setThrottleChannel(int channel) {
+    m_axes[Axis.kThrottle.value] = (byte) channel;
+  }
+
+  /**
+   * Set the channel associated with the twist axis.
+   *
+   * @param channel The channel to set the axis to.
+   */
+  public void setTwistChannel(int channel) {
+    m_axes[Axis.kTwist.value] = (byte) channel;
+  }
+
+  /**
+   * Set the channel associated with a specified axis.
+   *
+   * @deprecated    Use the more specific axis channel setter functions.
+   * @param axis    The axis to set the channel for.
+   * @param channel The channel to set the axis to.
+   */
+  @Deprecated
+  public void setAxisChannel(AxisType axis, int channel) {
+    m_axes[axis.value] = (byte) channel;
+  }
+
+  /**
+   * Get the channel currently associated with the X axis.
+   *
+   * @return The channel for the axis.
+   */
+  public int getXChannel() {
+    return m_axes[Axis.kX.value];
+  }
+
+  /**
+   * Get the channel currently associated with the Y axis.
+   *
+   * @return The channel for the axis.
+   */
+  public int getYChannel() {
+    return m_axes[Axis.kY.value];
+  }
+
+  /**
+   * Get the channel currently associated with the Z axis.
+   *
+   * @return The channel for the axis.
+   */
+  public int getZChannel() {
+    return m_axes[Axis.kZ.value];
+  }
+
+  /**
+   * Get the channel currently associated with the twist axis.
+   *
+   * @return The channel for the axis.
+   */
+  public int getTwistChannel() {
+    return m_axes[Axis.kTwist.value];
+  }
+
+  /**
+   * Get the channel currently associated with the throttle axis.
+   *
+   * @return The channel for the axis.
+   */
+  public int getThrottleChannel() {
+    return m_axes[Axis.kThrottle.value];
+  }
+
+  /**
+   * Get the channel currently associated with the specified axis.
+   *
+   * @deprecated Use the more specific axis channel getter functions.
+   * @param axis The axis to look up the channel for.
+   * @return The channel for the axis.
+   */
+  @Deprecated
+  public int getAxisChannel(AxisType axis) {
+    return m_axes[axis.value];
   }
 
   /**
@@ -109,7 +226,7 @@ public class Joystick extends JoystickBase {
    */
   @Override
   public final double getX(Hand hand) {
-    return getRawAxis(m_axes[AxisType.kX.value]);
+    return getRawAxis(m_axes[Axis.kX.value]);
   }
 
   /**
@@ -121,12 +238,16 @@ public class Joystick extends JoystickBase {
    */
   @Override
   public final double getY(Hand hand) {
-    return getRawAxis(m_axes[AxisType.kY.value]);
+    return getRawAxis(m_axes[Axis.kY.value]);
   }
 
-  @Override
-  public final double getZ(Hand hand) {
-    return getRawAxis(m_axes[AxisType.kZ.value]);
+  /**
+   * Get the z position of the HID.
+   *
+   * @return the z position
+   */
+  public double getZ() {
+    return getRawAxis(m_axes[Axis.kZ.value]);
   }
 
   /**
@@ -136,7 +257,7 @@ public class Joystick extends JoystickBase {
    * @return The Twist value of the joystick.
    */
   public double getTwist() {
-    return getRawAxis(m_axes[AxisType.kTwist.value]);
+    return getRawAxis(m_axes[Axis.kTwist.value]);
   }
 
   /**
@@ -146,17 +267,7 @@ public class Joystick extends JoystickBase {
    * @return The Throttle value of the joystick.
    */
   public double getThrottle() {
-    return getRawAxis(m_axes[AxisType.kThrottle.value]);
-  }
-
-  /**
-   * Get the value of the axis.
-   *
-   * @param axis The axis to read, starting at 0.
-   * @return The value of the axis.
-   */
-  public double getRawAxis(final int axis) {
-    return m_ds.getStickAxis(getPort(), axis);
+    return getRawAxis(m_axes[Axis.kThrottle.value]);
   }
 
   /**
@@ -165,9 +276,11 @@ public class Joystick extends JoystickBase {
    * <p>This is for cases where the joystick axis is returned programmatically, otherwise one of the
    * previous functions would be preferable (for example getX()).
    *
+   * @deprecated Use the more specific axis getter functions.
    * @param axis The axis to read.
    * @return The value of the axis.
    */
+  @Deprecated
   public double getAxis(final AxisType axis) {
     switch (axis) {
       case kX:
@@ -186,80 +299,57 @@ public class Joystick extends JoystickBase {
   }
 
   /**
-   * For the current joystick, return the number of axis.
+   * Read the state of the trigger on the joystick.
+   *
+   * @return The state of the trigger.
    */
-  public int getAxisCount() {
-    return m_ds.getStickAxisCount(getPort());
+  public boolean getTrigger() {
+    return getRawButton(Button.kTrigger.value);
   }
 
   /**
-   * Read the state of the trigger on the joystick.
+   * Whether the trigger was pressed since the last check.
    *
-   * <p>Look up which button has been assigned to the trigger and read its state.
-   *
-   * @param hand This parameter is ignored for the Joystick class and is only here to complete the
-   *             GenericHID interface.
-   * @return The state of the trigger.
+   * @return Whether the button was pressed since the last check.
    */
-  @SuppressWarnings("PMD.UnusedFormalParameter")
-  public boolean getTrigger(Hand hand) {
-    return getRawButton(m_buttons[ButtonType.kTrigger.value]);
+  public boolean getTriggerPressed() {
+    return getRawButtonPressed(Button.kTrigger.value);
+  }
+
+  /**
+   * Whether the trigger was released since the last check.
+   *
+   * @return Whether the button was released since the last check.
+   */
+  public boolean getTriggerReleased() {
+    return getRawButtonReleased(Button.kTrigger.value);
   }
 
   /**
    * Read the state of the top button on the joystick.
    *
-   * <p>Look up which button has been assigned to the top and read its state.
-   *
-   * @param hand This parameter is ignored for the Joystick class and is only here to complete the
-   *             GenericHID interface.
    * @return The state of the top button.
    */
-  @SuppressWarnings("PMD.UnusedFormalParameter")
-  public boolean getTop(Hand hand) {
-    return getRawButton(m_buttons[ButtonType.kTop.value]);
-  }
-
-  @Override
-  public int getPOV(int pov) {
-    return m_ds.getStickPOV(getPort(), pov);
-  }
-
-  @Override
-  public int getPOVCount() {
-    return m_ds.getStickPOVCount(getPort());
+  public boolean getTop() {
+    return getRawButton(Button.kTop.value);
   }
 
   /**
-   * This is not supported for the Joystick. This method is only here to complete the GenericHID
-   * interface.
+   * Whether the top button was pressed since the last check.
    *
-   * @param hand This parameter is ignored for the Joystick class and is only here to complete the
-   *             GenericHID interface.
-   * @return The state of the bumper (always false)
+   * @return Whether the button was pressed since the last check.
    */
-  @SuppressWarnings("PMD.UnusedFormalParameter")
-  public boolean getBumper(Hand hand) {
-    return false;
+  public boolean getTopPressed() {
+    return getRawButtonPressed(Button.kTop.value);
   }
 
   /**
-   * Get the button value (starting at button 1).
+   * Whether the top button was released since the last check.
    *
-   * <p>The appropriate button is returned as a boolean value.
-   *
-   * @param button The button number to be read (starting at 1).
-   * @return The state of the button.
+   * @return Whether the button was released since the last check.
    */
-  public boolean getRawButton(final int button) {
-    return m_ds.getStickButton(getPort(), (byte) button);
-  }
-
-  /**
-   * For the current joystick, return the number of buttons.
-   */
-  public int getButtonCount() {
-    return m_ds.getStickButtonCount(getPort());
+  public boolean getTopReleased() {
+    return getRawButtonReleased(Button.kTop.value);
   }
 
   /**
@@ -267,18 +357,13 @@ public class Joystick extends JoystickBase {
    *
    * <p>The button type will be looked up in the list of buttons and then read.
    *
+   * @deprecated Use Button enum values instead of ButtonType.
    * @param button The type of button to read.
    * @return The state of the button.
    */
+  @Deprecated
   public boolean getButton(ButtonType button) {
-    switch (button) {
-      case kTrigger:
-        return getTrigger();
-      case kTop:
-        return getTop();
-      default:
-        return false;
-    }
+    return getRawButton(button.value);
   }
 
   /**
@@ -308,89 +393,4 @@ public class Joystick extends JoystickBase {
   public double getDirectionDegrees() {
     return Math.toDegrees(getDirectionRadians());
   }
-
-  /**
-   * Get the channel currently associated with the specified axis.
-   *
-   * @param axis The axis to look up the channel for.
-   * @return The channel fr the axis.
-   */
-  public int getAxisChannel(AxisType axis) {
-    return m_axes[axis.value];
-  }
-
-  /**
-   * Set the channel associated with a specified axis.
-   *
-   * @param axis    The axis to set the channel for.
-   * @param channel The channel to set the axis to.
-   */
-  public void setAxisChannel(AxisType axis, int channel) {
-    m_axes[axis.value] = (byte) channel;
-  }
-
-  /**
-   * Get the value of isXbox for the current joystick.
-   *
-   * @return A boolean that is true if the controller is an xbox controller.
-   */
-  public boolean getIsXbox() {
-    return m_ds.getJoystickIsXbox(getPort());
-  }
-
-  /**
-   * Get the axis type of a joystick axis.
-   *
-   * @return the axis type of a joystick axis.
-   */
-  public int getAxisType(int axis) {
-    return m_ds.getJoystickAxisType(getPort(), axis);
-  }
-
-  /**
-   * Get the type of the HID.
-   *
-   * @return the type of the HID.
-   */
-  @Override
-  public HIDType getType() {
-    return HIDType.values()[m_ds.getJoystickType(getPort())];
-  }
-
-  /**
-   * Get the name of the HID.
-   *
-   * @return the name of the HID.
-   */
-  @Override
-  public String getName() {
-    return m_ds.getJoystickName(getPort());
-  }
-
-  @Override
-  public void setOutput(int outputNumber, boolean value) {
-    m_outputs = (m_outputs & ~(1 << (outputNumber - 1))) | ((value ? 1 : 0) << (outputNumber - 1));
-    HAL.setJoystickOutputs((byte) getPort(), m_outputs, m_leftRumble, m_rightRumble);
-  }
-
-  @Override
-  public void setOutputs(int value) {
-    m_outputs = value;
-    HAL.setJoystickOutputs((byte) getPort(), m_outputs, m_leftRumble, m_rightRumble);
-  }
-
-  @Override
-  public void setRumble(RumbleType type, double value) {
-    if (value < 0) {
-      value = 0;
-    } else if (value > 1) {
-      value = 1;
-    }
-    if (type == RumbleType.kLeftRumble) {
-      m_leftRumble = (short) (value * 65535);
-    } else {
-      m_rightRumble = (short) (value * 65535);
-    }
-    HAL.setJoystickOutputs((byte) getPort(), m_outputs, m_leftRumble, m_rightRumble);
-  }
 }

wpilibj/src/main/java/edu/wpi/first/wpilibj/JoystickBase.java

@@ -9,7 +9,10 @@ package edu.wpi.first.wpilibj;
 
 /**
  * JoystickBase Interface.
+ *
+ * @deprecated Inherit directly from GenericHID instead.
  */
+@Deprecated
 public abstract class JoystickBase extends GenericHID {
   public JoystickBase(int port) {
     super(port);
@@ -40,52 +43,4 @@ public abstract class JoystickBase extends GenericHID {
    * @return the throttle value
    */
   public abstract double getThrottle();
-
-  /**
-   * Is the trigger pressed.
-   *
-   * @return true if pressed
-   */
-  public final boolean getTrigger() {
-    return getTrigger(Hand.kRight);
-  }
-
-  /**
-   * Is the trigger pressed.
-   *
-   * @param hand which hand
-   * @return true if the trigger for the given hand is pressed
-   */
-  public abstract boolean getTrigger(Hand hand);
-
-  /**
-   * Is the top button pressed.
-   *
-   * @return true if the top button is pressed
-   */
-  public final boolean getTop() {
-    return getTop(Hand.kRight);
-  }
-
-  /**
-   * Is the top button pressed.
-   *
-   * @param hand which hand
-   * @return true if hte top button for the given hand is pressed
-   */
-  public abstract boolean getTop(Hand hand);
-
-  public abstract int getPOV(int pov);
-
-  public abstract int getPOVCount();
-
-  public abstract HIDType getType();
-
-  public abstract String getName();
-
-  public abstract void setOutput(int outputNumber, boolean value);
-
-  public abstract void setOutputs(int value);
-
-  public abstract void setRumble(RumbleType type, double value);
 }

wpilibj/src/main/java/edu/wpi/first/wpilibj/XboxController.java

@@ -17,11 +17,29 @@ import edu.wpi.first.wpilibj.hal.HAL;
  * requested the most recent value is returned. There is a single class instance for each controller
  * and the mapping of ports to hardware buttons depends on the code in the Driver Station.
  */
-public class XboxController extends GamepadBase {
-  private DriverStation m_ds;
-  private int m_outputs;
-  private short m_leftRumble;
-  private short m_rightRumble;
+public class XboxController extends GenericHID {
+  /**
+   * Represents a digital button on an XboxController.
+   */
+  private enum Button {
+    kBumperLeft(5),
+    kBumperRight(6),
+    kStickLeft(9),
+    kStickRight(10),
+    kA(1),
+    kB(2),
+    kX(3),
+    kY(4),
+    kBack(7),
+    kStart(8);
+
+    @SuppressWarnings("MemberName")
+    private int value;
+
+    Button(int value) {
+      this.value = value;
+    }
+  }
 
   /**
    * Construct an instance of a joystick. The joystick index is the USB port on the drivers
@@ -31,7 +49,6 @@ public class XboxController extends GamepadBase {
    */
   public XboxController(final int port) {
     super(port);
-    m_ds = DriverStation.getInstance();
 
     // HAL.report(tResourceType.kResourceType_XboxController, port);
     HAL.report(tResourceType.kResourceType_Joystick, port);
@@ -67,69 +84,6 @@ public class XboxController extends GamepadBase {
     }
   }
 
-  /**
-   * Get the value of the axis.
-   *
-   * @param axis The axis to read, starting at 0.
-   * @return The value of the axis.
-   */
-  public double getRawAxis(final int axis) {
-    return m_ds.getStickAxis(getPort(), axis);
-  }
-
-  /**
-   * Read the value of the bumper button on the controller.
-   *
-   * @param hand Side of controller whose value should be returned.
-   * @return The state of the button.
-   */
-  @Override
-  public boolean getBumper(Hand hand) {
-    if (hand.equals(Hand.kLeft)) {
-      return getRawButton(5);
-    } else {
-      return getRawButton(6);
-    }
-  }
-
-  /**
-   * This is not supported for the XboxController. This method is only here to complete the
-   * GenericHID interface.
-   *
-   * @param hand This parameter is ignored for the Joystick class and is only here to complete the
-   *             GenericHID interface.
-   * @return The state of the trigger (always false)
-   */
-  @SuppressWarnings("PMD.UnusedFormalParameter")
-  public boolean getTrigger(Hand hand) {
-    return false;
-  }
-
-  /**
-   * This is not supported for the XboxController. This method is only here to complete the
-   * GenericHID interface.
-   *
-   * @param hand This parameter is ignored for the Joystick class and is only here to complete the
-   *             GenericHID interface.
-   * @return The state of the top button (always false)
-   */
-  @SuppressWarnings("PMD.UnusedFormalParameter")
-  public boolean getTop(Hand hand) {
-    return false;
-  }
-
-  /**
-   * Get the button value (starting at button 1).
-   *
-   * <p>The appropriate button is returned as a boolean value.
-   *
-   * @param button The button number to be read (starting at 1).
-   * @return The state of the button.
-   */
-  public boolean getRawButton(final int button) {
-    return m_ds.getStickButton(getPort(), (byte) button);
-  }
-
   /**
    * Get the trigger axis value of the controller.
    *
@@ -145,39 +99,45 @@ public class XboxController extends GamepadBase {
   }
 
   /**
-   * Read the value of the A button on the controller.
+   * Read the value of the bumper button on the controller.
    *
+   * @param hand Side of controller whose value should be returned.
    * @return The state of the button.
    */
-  public boolean getAButton() {
-    return getRawButton(1);
+  public boolean getBumper(Hand hand) {
+    if (hand.equals(Hand.kLeft)) {
+      return getRawButton(Button.kBumperLeft.value);
+    } else {
+      return getRawButton(Button.kBumperRight.value);
+    }
   }
 
   /**
-   * Read the value of the B button on the controller.
+   * Whether the bumper was pressed since the last check.
    *
-   * @return The state of the button.
+   * @param hand Side of controller whose value should be returned.
+   * @return Whether the button was pressed since the last check.
    */
-  public boolean getBButton() {
-    return getRawButton(2);
+  public boolean getBumperPressed(Hand hand) {
+    if (hand == Hand.kLeft) {
+      return getRawButtonPressed(Button.kBumperLeft.value);
+    } else {
+      return getRawButtonPressed(Button.kBumperRight.value);
+    }
   }
 
   /**
-   * Read the value of the X button on the controller.
+   * Whether the bumper was released since the last check.
    *
-   * @return The state of the button.
+   * @param hand Side of controller whose value should be returned.
+   * @return Whether the button was released since the last check.
    */
-  public boolean getXButton() {
-    return getRawButton(3);
-  }
-
-  /**
-   * Read the value of the Y button on the controller.
-   *
-   * @return The state of the button.
-   */
-  public boolean getYButton() {
-    return getRawButton(4);
+  public boolean getBumperReleased(Hand hand) {
+    if (hand == Hand.kLeft) {
+      return getRawButtonReleased(Button.kBumperLeft.value);
+    } else {
+      return getRawButtonReleased(Button.kBumperRight.value);
+    }
   }
 
   /**
@@ -186,22 +146,175 @@ public class XboxController extends GamepadBase {
    * @param hand Side of controller whose value should be returned.
    * @return The state of the button.
    */
-  @Override
   public boolean getStickButton(Hand hand) {
     if (hand.equals(Hand.kLeft)) {
-      return getRawButton(9);
+      return getRawButton(Button.kStickLeft.value);
     } else {
-      return getRawButton(10);
+      return getRawButton(Button.kStickRight.value);
     }
   }
 
+  /**
+   * Whether the stick button was pressed since the last check.
+   *
+   * @param hand Side of controller whose value should be returned.
+   * @return Whether the button was pressed since the last check.
+   */
+  public boolean getStickButtonPressed(Hand hand) {
+    if (hand == Hand.kLeft) {
+      return getRawButtonPressed(Button.kStickLeft.value);
+    } else {
+      return getRawButtonPressed(Button.kStickRight.value);
+    }
+  }
+
+  /**
+   * Whether the stick button was released since the last check.
+   *
+   * @param hand Side of controller whose value should be returned.
+   * @return Whether the button was released since the last check.
+   */
+  public boolean getStickButtonReleased(Hand hand) {
+    if (hand == Hand.kLeft) {
+      return getRawButtonReleased(Button.kStickLeft.value);
+    } else {
+      return getRawButtonReleased(Button.kStickRight.value);
+    }
+  }
+
+  /**
+   * Read the value of the A button on the controller.
+   *
+   * @return The state of the button.
+   */
+  public boolean getAButton() {
+    return getRawButton(Button.kA.value);
+  }
+
+  /**
+   * Whether the A button was pressed since the last check.
+   *
+   * @return Whether the button was pressed since the last check.
+   */
+  public boolean getAButtonPressed() {
+    return getRawButtonPressed(Button.kA.value);
+  }
+
+  /**
+   * Whether the A button was released since the last check.
+   *
+   * @return Whether the button was released since the last check.
+   */
+  public boolean getAButtonReleased() {
+    return getRawButtonReleased(Button.kA.value);
+  }
+
+  /**
+   * Read the value of the B button on the controller.
+   *
+   * @return The state of the button.
+   */
+  public boolean getBButton() {
+    return getRawButton(Button.kB.value);
+  }
+
+  /**
+   * Whether the B button was pressed since the last check.
+   *
+   * @return Whether the button was pressed since the last check.
+   */
+  public boolean getBButtonPressed() {
+    return getRawButtonPressed(Button.kB.value);
+  }
+
+  /**
+   * Whether the B button was released since the last check.
+   *
+   * @return Whether the button was released since the last check.
+   */
+  public boolean getBButtonReleased() {
+    return getRawButtonReleased(Button.kB.value);
+  }
+
+  /**
+   * Read the value of the X button on the controller.
+   *
+   * @return The state of the button.
+   */
+  public boolean getXButton() {
+    return getRawButton(Button.kX.value);
+  }
+
+  /**
+   * Whether the X button was pressed since the last check.
+   *
+   * @return Whether the button was pressed since the last check.
+   */
+  public boolean getXButtonPressed() {
+    return getRawButtonPressed(Button.kX.value);
+  }
+
+  /**
+   * Whether the X button was released since the last check.
+   *
+   * @return Whether the button was released since the last check.
+   */
+  public boolean getXButtonReleased() {
+    return getRawButtonReleased(Button.kX.value);
+  }
+
+  /**
+   * Read the value of the Y button on the controller.
+   *
+   * @return The state of the button.
+   */
+  public boolean getYButton() {
+    return getRawButton(Button.kY.value);
+  }
+
+  /**
+   * Whether the Y button was pressed since the last check.
+   *
+   * @return Whether the button was pressed since the last check.
+   */
+  public boolean getYButtonPressed() {
+    return getRawButtonPressed(Button.kY.value);
+  }
+
+  /**
+   * Whether the Y button was released since the last check.
+   *
+   * @return Whether the button was released since the last check.
+   */
+  public boolean getYButtonReleased() {
+    return getRawButtonReleased(Button.kY.value);
+  }
+
   /**
    * Read the value of the back button on the controller.
    *
    * @return The state of the button.
    */
   public boolean getBackButton() {
-    return getRawButton(7);
+    return getRawButton(Button.kBack.value);
+  }
+
+  /**
+   * Whether the back button was pressed since the last check.
+   *
+   * @return Whether the button was pressed since the last check.
+   */
+  public boolean getBackButtonPressed() {
+    return getRawButtonPressed(Button.kBack.value);
+  }
+
+  /**
+   * Whether the back button was released since the last check.
+   *
+   * @return Whether the button was released since the last check.
+   */
+  public boolean getBackButtonReleased() {
+    return getRawButtonReleased(Button.kBack.value);
   }
 
   /**
@@ -210,53 +323,24 @@ public class XboxController extends GamepadBase {
    * @return The state of the button.
    */
   public boolean getStartButton() {
-    return getRawButton(8);
+    return getRawButton(Button.kStart.value);
   }
 
-  @Override
-  public int getPOV(int pov) {
-    return m_ds.getStickPOV(getPort(), pov);
+  /**
+   * Whether the start button was pressed since the last check.
+   *
+   * @return Whether the button was pressed since the last check.
+   */
+  public boolean getStartButtonPressed() {
+    return getRawButtonPressed(Button.kStart.value);
   }
 
-  @Override
-  public int getPOVCount() {
-    return m_ds.getStickPOVCount(getPort());
-  }
-
-  @Override
-  public HIDType getType() {
-    return HIDType.values()[m_ds.getJoystickType(getPort())];
-  }
-
-  @Override
-  public String getName() {
-    return m_ds.getJoystickName(getPort());
-  }
-
-  @Override
-  public void setOutput(int outputNumber, boolean value) {
-    m_outputs = (m_outputs & ~(1 << (outputNumber - 1))) | ((value ? 1 : 0) << (outputNumber - 1));
-    HAL.setJoystickOutputs((byte) getPort(), m_outputs, m_leftRumble, m_rightRumble);
-  }
-
-  @Override
-  public void setOutputs(int value) {
-    m_outputs = value;
-    HAL.setJoystickOutputs((byte) getPort(), m_outputs, m_leftRumble, m_rightRumble);
-  }
-
-  @Override
-  public void setRumble(RumbleType type, double value) {
-    if (value < 0) {
-      value = 0;
-    } else if (value > 1) {
-      value = 1;
-    }
-    if (type == RumbleType.kLeftRumble) {
-      m_leftRumble = (short) (value * 65535);
-    } else {
-      m_rightRumble = (short) (value * 65535);
-    }
-    HAL.setJoystickOutputs((byte) getPort(), m_outputs, m_leftRumble, m_rightRumble);
+  /**
+   * Whether the start button was released since the last check.
+   *
+   * @return Whether the button was released since the last check.
+   */
+  public boolean getStartButtonReleased() {
+    return getRawButtonReleased(Button.kStart.value);
   }
 }