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https://github.com/wpilibsuite/allwpilib
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[hal,wpilib] Use new DS available API from mrccomm (#8302)
Instead of just having a max count for joystick values, there's an available mask of values. This is because in the future we're expecting there to be holes in the list of available buttons and axes. This updates everything to support that scenario. Also, Joystick buttons, axes, and POVs all now start at 0 instead of 1.
This commit is contained in:
Thad House
@@ -0,0 +1,745 @@
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// Copyright (c) FIRST and other WPILib contributors.
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// Open Source Software; you can modify and/or share it under the terms of
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// the WPILib BSD license file in the root directory of this project.
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package edu.wpi.first.wpilibj2.command.button;
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import edu.wpi.first.wpilibj.Gamepad;
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import edu.wpi.first.wpilibj.event.EventLoop;
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import edu.wpi.first.wpilibj2.command.CommandScheduler;
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/**
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* A version of {@link Gamepad} with {@link Trigger} factories for command-based.
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*
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* @see Gamepad
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*/
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@SuppressWarnings("MethodName")
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public class CommandGamepad extends CommandGenericHID {
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private final Gamepad m_hid;
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/**
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* Construct an instance of a controller.
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*
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* @param port The port index on the Driver Station that the controller is plugged into.
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*/
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public CommandGamepad(int port) {
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super(port);
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m_hid = new Gamepad(port);
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}
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/**
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* Get the underlying GenericHID object.
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*
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* @return the wrapped GenericHID object
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*/
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@Override
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public Gamepad getHID() {
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return m_hid;
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}
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/**
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* Constructs a Trigger instance around the South Face button's digital signal.
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*
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* @return a Trigger instance representing the South Face button's digital signal attached to the
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* {@link CommandScheduler#getDefaultButtonLoop() default scheduler button loop}.
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* @see #southFace(EventLoop)
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*/
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public Trigger southFace() {
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return southFace(CommandScheduler.getInstance().getDefaultButtonLoop());
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}
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/**
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* Constructs a Trigger instance around the South Face button's digital signal.
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*
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* @param loop the event loop instance to attach the event to.
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* @return a Trigger instance representing the South Face button's digital signal attached to the
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* given loop.
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*/
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public Trigger southFace(EventLoop loop) {
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return button(Gamepad.Button.kSouthFace.value, loop);
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}
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/**
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* Constructs a Trigger instance around the East Face button's digital signal.
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*
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* @return a Trigger instance representing the East Face button's digital signal attached to the
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* {@link CommandScheduler#getDefaultButtonLoop() default scheduler button loop}.
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* @see #eastFace(EventLoop)
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*/
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public Trigger eastFace() {
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return eastFace(CommandScheduler.getInstance().getDefaultButtonLoop());
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}
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/**
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* Constructs a Trigger instance around the East Face button's digital signal.
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*
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* @param loop the event loop instance to attach the event to.
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* @return a Trigger instance representing the East Face button's digital signal attached to the
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* given loop.
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*/
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public Trigger eastFace(EventLoop loop) {
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return button(Gamepad.Button.kEastFace.value, loop);
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}
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/**
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* Constructs a Trigger instance around the West Face button's digital signal.
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*
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* @return a Trigger instance representing the West Face button's digital signal attached to the
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* {@link CommandScheduler#getDefaultButtonLoop() default scheduler button loop}.
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* @see #westFace(EventLoop)
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*/
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public Trigger westFace() {
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return westFace(CommandScheduler.getInstance().getDefaultButtonLoop());
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}
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/**
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* Constructs a Trigger instance around the West Face button's digital signal.
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*
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* @param loop the event loop instance to attach the event to.
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* @return a Trigger instance representing the West Face button's digital signal attached to the
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* given loop.
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*/
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public Trigger westFace(EventLoop loop) {
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return button(Gamepad.Button.kWestFace.value, loop);
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}
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/**
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* Constructs a Trigger instance around the North Face button's digital signal.
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*
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* @return a Trigger instance representing the North Face button's digital signal attached to the
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* {@link CommandScheduler#getDefaultButtonLoop() default scheduler button loop}.
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* @see #northFacen(EventLoop)
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*/
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public Trigger northFacen() {
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return northFacen(CommandScheduler.getInstance().getDefaultButtonLoop());
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}
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/**
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* Constructs a Trigger instance around the North Face button's digital signal.
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*
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* @param loop the event loop instance to attach the event to.
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* @return a Trigger instance representing the North Face button's digital signal attached to the
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* given loop.
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*/
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public Trigger northFacen(EventLoop loop) {
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return button(Gamepad.Button.kNorthFacen.value, loop);
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}
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/**
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* Constructs a Trigger instance around the Back button's digital signal.
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*
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* @return a Trigger instance representing the Back button's digital signal attached to the {@link
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* CommandScheduler#getDefaultButtonLoop() default scheduler button loop}.
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* @see #back(EventLoop)
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*/
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public Trigger back() {
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return back(CommandScheduler.getInstance().getDefaultButtonLoop());
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}
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/**
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* Constructs a Trigger instance around the Back button's digital signal.
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*
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* @param loop the event loop instance to attach the event to.
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* @return a Trigger instance representing the Back button's digital signal attached to the given
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* loop.
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*/
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public Trigger back(EventLoop loop) {
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return button(Gamepad.Button.kBack.value, loop);
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}
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/**
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* Constructs a Trigger instance around the Guide button's digital signal.
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*
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* @return a Trigger instance representing the Guide button's digital signal attached to the
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* {@link CommandScheduler#getDefaultButtonLoop() default scheduler button loop}.
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* @see #guide(EventLoop)
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*/
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public Trigger guide() {
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return guide(CommandScheduler.getInstance().getDefaultButtonLoop());
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}
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/**
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* Constructs a Trigger instance around the Guide button's digital signal.
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*
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* @param loop the event loop instance to attach the event to.
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* @return a Trigger instance representing the Guide button's digital signal attached to the given
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* loop.
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*/
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public Trigger guide(EventLoop loop) {
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return button(Gamepad.Button.kGuide.value, loop);
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}
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/**
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* Constructs a Trigger instance around the Start button's digital signal.
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*
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* @return a Trigger instance representing the Start button's digital signal attached to the
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* {@link CommandScheduler#getDefaultButtonLoop() default scheduler button loop}.
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* @see #start(EventLoop)
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*/
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public Trigger start() {
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return start(CommandScheduler.getInstance().getDefaultButtonLoop());
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}
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/**
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* Constructs a Trigger instance around the Start button's digital signal.
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*
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* @param loop the event loop instance to attach the event to.
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* @return a Trigger instance representing the Start button's digital signal attached to the given
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* loop.
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*/
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public Trigger start(EventLoop loop) {
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return button(Gamepad.Button.kStart.value, loop);
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}
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/**
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* Constructs a Trigger instance around the left stick button's digital signal.
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*
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* @return a Trigger instance representing the left stick button's digital signal attached to the
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* {@link CommandScheduler#getDefaultButtonLoop() default scheduler button loop}.
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* @see #leftStick(EventLoop)
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*/
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public Trigger leftStick() {
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return leftStick(CommandScheduler.getInstance().getDefaultButtonLoop());
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}
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/**
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* Constructs a Trigger instance around the left stick button's digital signal.
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*
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* @param loop the event loop instance to attach the event to.
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* @return a Trigger instance representing the left stick button's digital signal attached to the
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* given loop.
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*/
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public Trigger leftStick(EventLoop loop) {
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return button(Gamepad.Button.kLeftStick.value, loop);
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}
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/**
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* Constructs a Trigger instance around the right stick button's digital signal.
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*
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* @return a Trigger instance representing the right stick button's digital signal attached to the
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* {@link CommandScheduler#getDefaultButtonLoop() default scheduler button loop}.
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* @see #rightStick(EventLoop)
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*/
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public Trigger rightStick() {
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return rightStick(CommandScheduler.getInstance().getDefaultButtonLoop());
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}
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/**
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* Constructs a Trigger instance around the right stick button's digital signal.
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*
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* @param loop the event loop instance to attach the event to.
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* @return a Trigger instance representing the right stick button's digital signal attached to the
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* given loop.
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*/
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public Trigger rightStick(EventLoop loop) {
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return button(Gamepad.Button.kRightStick.value, loop);
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}
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/**
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* Constructs a Trigger instance around the right shoulder button's digital signal.
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*
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* @return a Trigger instance representing the right shoulder button's digital signal attached to
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* the {@link CommandScheduler#getDefaultButtonLoop() default scheduler button loop}.
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* @see #leftShoulder(EventLoop)
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*/
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public Trigger leftShoulder() {
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return leftShoulder(CommandScheduler.getInstance().getDefaultButtonLoop());
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}
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/**
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* Constructs a Trigger instance around the right shoulder button's digital signal.
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*
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* @param loop the event loop instance to attach the event to.
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* @return a Trigger instance representing the right shoulder button's digital signal attached to
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* the given loop.
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*/
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public Trigger leftShoulder(EventLoop loop) {
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return button(Gamepad.Button.kLeftShoulder.value, loop);
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}
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/**
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* Constructs a Trigger instance around the right shoulder button's digital signal.
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*
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* @return a Trigger instance representing the right shoulder button's digital signal attached to
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* the {@link CommandScheduler#getDefaultButtonLoop() default scheduler button loop}.
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* @see #rightShoulder(EventLoop)
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*/
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public Trigger rightShoulder() {
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return rightShoulder(CommandScheduler.getInstance().getDefaultButtonLoop());
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}
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/**
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* Constructs a Trigger instance around the right shoulder button's digital signal.
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*
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* @param loop the event loop instance to attach the event to.
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* @return a Trigger instance representing the right shoulder button's digital signal attached to
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* the given loop.
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*/
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public Trigger rightShoulder(EventLoop loop) {
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return button(Gamepad.Button.kRightShoulder.value, loop);
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}
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/**
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* Constructs a Trigger instance around the D-pad up button's digital signal.
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*
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* @return a Trigger instance representing the D-pad up button's digital signal attached to the
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* {@link CommandScheduler#getDefaultButtonLoop() default scheduler button loop}.
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* @see #dpadUp(EventLoop)
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*/
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public Trigger dpadUp() {
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return dpadUp(CommandScheduler.getInstance().getDefaultButtonLoop());
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}
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/**
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* Constructs a Trigger instance around the D-pad up button's digital signal.
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*
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* @param loop the event loop instance to attach the event to.
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* @return a Trigger instance representing the D-pad up button's digital signal attached to the
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* given loop.
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*/
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public Trigger dpadUp(EventLoop loop) {
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return button(Gamepad.Button.kDpadUp.value, loop);
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}
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/**
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* Constructs a Trigger instance around the D-pad down button's digital signal.
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*
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* @return a Trigger instance representing the D-pad down button's digital signal attached to the
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* {@link CommandScheduler#getDefaultButtonLoop() default scheduler button loop}.
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* @see #dpadDown(EventLoop)
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*/
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public Trigger dpadDown() {
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return dpadDown(CommandScheduler.getInstance().getDefaultButtonLoop());
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}
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/**
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* Constructs a Trigger instance around the D-pad down button's digital signal.
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*
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* @param loop the event loop instance to attach the event to.
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* @return a Trigger instance representing the D-pad down button's digital signal attached to the
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* given loop.
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*/
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public Trigger dpadDown(EventLoop loop) {
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return button(Gamepad.Button.kDpadDown.value, loop);
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}
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/**
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* Constructs a Trigger instance around the D-pad left button's digital signal.
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*
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* @return a Trigger instance representing the D-pad left button's digital signal attached to the
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* {@link CommandScheduler#getDefaultButtonLoop() default scheduler button loop}.
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* @see #dpadLeft(EventLoop)
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*/
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public Trigger dpadLeft() {
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return dpadLeft(CommandScheduler.getInstance().getDefaultButtonLoop());
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}
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/**
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* Constructs a Trigger instance around the D-pad left button's digital signal.
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*
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* @param loop the event loop instance to attach the event to.
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* @return a Trigger instance representing the D-pad left button's digital signal attached to the
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* given loop.
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*/
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public Trigger dpadLeft(EventLoop loop) {
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return button(Gamepad.Button.kDpadLeft.value, loop);
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}
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/**
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* Constructs a Trigger instance around the D-pad right button's digital signal.
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*
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* @return a Trigger instance representing the D-pad right button's digital signal attached to the
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* {@link CommandScheduler#getDefaultButtonLoop() default scheduler button loop}.
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* @see #dpadRight(EventLoop)
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*/
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public Trigger dpadRight() {
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return dpadRight(CommandScheduler.getInstance().getDefaultButtonLoop());
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}
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/**
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* Constructs a Trigger instance around the D-pad right button's digital signal.
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*
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* @param loop the event loop instance to attach the event to.
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* @return a Trigger instance representing the D-pad right button's digital signal attached to the
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* given loop.
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*/
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public Trigger dpadRight(EventLoop loop) {
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return button(Gamepad.Button.kDpadRight.value, loop);
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}
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/**
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* Constructs a Trigger instance around the Miscellaneous 1 button's digital signal.
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*
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* @return a Trigger instance representing the Miscellaneous 1 button's digital signal attached to
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* the {@link CommandScheduler#getDefaultButtonLoop() default scheduler button loop}.
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* @see #misc1(EventLoop)
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*/
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public Trigger misc1() {
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return misc1(CommandScheduler.getInstance().getDefaultButtonLoop());
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}
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/**
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* Constructs a Trigger instance around the Miscellaneous 1 button's digital signal.
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*
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* @param loop the event loop instance to attach the event to.
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* @return a Trigger instance representing the Miscellaneous 1 button's digital signal attached to
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* the given loop.
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*/
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public Trigger misc1(EventLoop loop) {
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return button(Gamepad.Button.kMisc1.value, loop);
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}
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/**
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* Constructs a Trigger instance around the Right Paddle 1 button's digital signal.
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*
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* @return a Trigger instance representing the Right Paddle 1 button's digital signal attached to
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* the {@link CommandScheduler#getDefaultButtonLoop() default scheduler button loop}.
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* @see #rightPaddle1(EventLoop)
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*/
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public Trigger rightPaddle1() {
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return rightPaddle1(CommandScheduler.getInstance().getDefaultButtonLoop());
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}
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/**
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* Constructs a Trigger instance around the Right Paddle 1 button's digital signal.
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*
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* @param loop the event loop instance to attach the event to.
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* @return a Trigger instance representing the Right Paddle 1 button's digital signal attached to
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* the given loop.
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*/
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public Trigger rightPaddle1(EventLoop loop) {
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return button(Gamepad.Button.kRightPaddle1.value, loop);
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}
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/**
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* Constructs a Trigger instance around the Left Paddle 1 button's digital signal.
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*
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* @return a Trigger instance representing the Left Paddle 1 button's digital signal attached to
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* the {@link CommandScheduler#getDefaultButtonLoop() default scheduler button loop}.
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* @see #leftPaddle1(EventLoop)
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*/
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public Trigger leftPaddle1() {
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return leftPaddle1(CommandScheduler.getInstance().getDefaultButtonLoop());
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}
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/**
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* Constructs a Trigger instance around the Left Paddle 1 button's digital signal.
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*
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||||
* @param loop the event loop instance to attach the event to.
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* @return a Trigger instance representing the Left Paddle 1 button's digital signal attached to
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* the given loop.
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*/
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public Trigger leftPaddle1(EventLoop loop) {
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return button(Gamepad.Button.kLeftPaddle1.value, loop);
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}
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/**
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* Constructs a Trigger instance around the Right Paddle 2 button's digital signal.
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*
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* @return a Trigger instance representing the Right Paddle 2 button's digital signal attached to
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* the {@link CommandScheduler#getDefaultButtonLoop() default scheduler button loop}.
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* @see #rightPaddle2(EventLoop)
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*/
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public Trigger rightPaddle2() {
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return rightPaddle2(CommandScheduler.getInstance().getDefaultButtonLoop());
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}
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||||
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||||
/**
|
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* Constructs a Trigger instance around the Right Paddle 2 button's digital signal.
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*
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||||
* @param loop the event loop instance to attach the event to.
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* @return a Trigger instance representing the Right Paddle 2 button's digital signal attached to
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||||
* the given loop.
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*/
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public Trigger rightPaddle2(EventLoop loop) {
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return button(Gamepad.Button.kRightPaddle2.value, loop);
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}
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/**
|
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* Constructs a Trigger instance around the Left Paddle 2 button's digital signal.
|
||||
*
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||||
* @return a Trigger instance representing the Left Paddle 2 button's digital signal attached to
|
||||
* the {@link CommandScheduler#getDefaultButtonLoop() default scheduler button loop}.
|
||||
* @see #leftPaddle2(EventLoop)
|
||||
*/
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public Trigger leftPaddle2() {
|
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return leftPaddle2(CommandScheduler.getInstance().getDefaultButtonLoop());
|
||||
}
|
||||
|
||||
/**
|
||||
* Constructs a Trigger instance around the Left Paddle 2 button's digital signal.
|
||||
*
|
||||
* @param loop the event loop instance to attach the event to.
|
||||
* @return a Trigger instance representing the Left Paddle 2 button's digital signal attached to
|
||||
* the given loop.
|
||||
*/
|
||||
public Trigger leftPaddle2(EventLoop loop) {
|
||||
return button(Gamepad.Button.kLeftPaddle2.value, loop);
|
||||
}
|
||||
|
||||
/**
|
||||
* Constructs a Trigger instance around the Touchpad button's digital signal.
|
||||
*
|
||||
* @return a Trigger instance representing the Touchpad button's digital signal attached to the
|
||||
* {@link CommandScheduler#getDefaultButtonLoop() default scheduler button loop}.
|
||||
* @see #touchpad(EventLoop)
|
||||
*/
|
||||
public Trigger touchpad() {
|
||||
return touchpad(CommandScheduler.getInstance().getDefaultButtonLoop());
|
||||
}
|
||||
|
||||
/**
|
||||
* Constructs a Trigger instance around the Touchpad button's digital signal.
|
||||
*
|
||||
* @param loop the event loop instance to attach the event to.
|
||||
* @return a Trigger instance representing the Touchpad button's digital signal attached to the
|
||||
* given loop.
|
||||
*/
|
||||
public Trigger touchpad(EventLoop loop) {
|
||||
return button(Gamepad.Button.kTouchpad.value, loop);
|
||||
}
|
||||
|
||||
/**
|
||||
* Constructs a Trigger instance around the Miscellaneous 2 button's digital signal.
|
||||
*
|
||||
* @return a Trigger instance representing the Miscellaneous 2 button's digital signal attached to
|
||||
* the {@link CommandScheduler#getDefaultButtonLoop() default scheduler button loop}.
|
||||
* @see #misc2(EventLoop)
|
||||
*/
|
||||
public Trigger misc2() {
|
||||
return misc2(CommandScheduler.getInstance().getDefaultButtonLoop());
|
||||
}
|
||||
|
||||
/**
|
||||
* Constructs a Trigger instance around the Miscellaneous 2 button's digital signal.
|
||||
*
|
||||
* @param loop the event loop instance to attach the event to.
|
||||
* @return a Trigger instance representing the Miscellaneous 2 button's digital signal attached to
|
||||
* the given loop.
|
||||
*/
|
||||
public Trigger misc2(EventLoop loop) {
|
||||
return button(Gamepad.Button.kMisc2.value, loop);
|
||||
}
|
||||
|
||||
/**
|
||||
* Constructs a Trigger instance around the Miscellaneous 3 button's digital signal.
|
||||
*
|
||||
* @return a Trigger instance representing the Miscellaneous 3 button's digital signal attached to
|
||||
* the {@link CommandScheduler#getDefaultButtonLoop() default scheduler button loop}.
|
||||
* @see #misc3(EventLoop)
|
||||
*/
|
||||
public Trigger misc3() {
|
||||
return misc3(CommandScheduler.getInstance().getDefaultButtonLoop());
|
||||
}
|
||||
|
||||
/**
|
||||
* Constructs a Trigger instance around the Miscellaneous 3 button's digital signal.
|
||||
*
|
||||
* @param loop the event loop instance to attach the event to.
|
||||
* @return a Trigger instance representing the Miscellaneous 3 button's digital signal attached to
|
||||
* the given loop.
|
||||
*/
|
||||
public Trigger misc3(EventLoop loop) {
|
||||
return button(Gamepad.Button.kMisc3.value, loop);
|
||||
}
|
||||
|
||||
/**
|
||||
* Constructs a Trigger instance around the Miscellaneous 4 button's digital signal.
|
||||
*
|
||||
* @return a Trigger instance representing the Miscellaneous 4 button's digital signal attached to
|
||||
* the {@link CommandScheduler#getDefaultButtonLoop() default scheduler button loop}.
|
||||
* @see #misc4(EventLoop)
|
||||
*/
|
||||
public Trigger misc4() {
|
||||
return misc4(CommandScheduler.getInstance().getDefaultButtonLoop());
|
||||
}
|
||||
|
||||
/**
|
||||
* Constructs a Trigger instance around the Miscellaneous 4 button's digital signal.
|
||||
*
|
||||
* @param loop the event loop instance to attach the event to.
|
||||
* @return a Trigger instance representing the Miscellaneous 4 button's digital signal attached to
|
||||
* the given loop.
|
||||
*/
|
||||
public Trigger misc4(EventLoop loop) {
|
||||
return button(Gamepad.Button.kMisc4.value, loop);
|
||||
}
|
||||
|
||||
/**
|
||||
* Constructs a Trigger instance around the Miscellaneous 5 button's digital signal.
|
||||
*
|
||||
* @return a Trigger instance representing the Miscellaneous 5 button's digital signal attached to
|
||||
* the {@link CommandScheduler#getDefaultButtonLoop() default scheduler button loop}.
|
||||
* @see #misc5(EventLoop)
|
||||
*/
|
||||
public Trigger misc5() {
|
||||
return misc5(CommandScheduler.getInstance().getDefaultButtonLoop());
|
||||
}
|
||||
|
||||
/**
|
||||
* Constructs a Trigger instance around the Miscellaneous 5 button's digital signal.
|
||||
*
|
||||
* @param loop the event loop instance to attach the event to.
|
||||
* @return a Trigger instance representing the Miscellaneous 5 button's digital signal attached to
|
||||
* the given loop.
|
||||
*/
|
||||
public Trigger misc5(EventLoop loop) {
|
||||
return button(Gamepad.Button.kMisc5.value, loop);
|
||||
}
|
||||
|
||||
/**
|
||||
* Constructs a Trigger instance around the Miscellaneous 6 button's digital signal.
|
||||
*
|
||||
* @return a Trigger instance representing the Miscellaneous 6 button's digital signal attached to
|
||||
* the {@link CommandScheduler#getDefaultButtonLoop() default scheduler button loop}.
|
||||
* @see #misc6(EventLoop)
|
||||
*/
|
||||
public Trigger misc6() {
|
||||
return misc6(CommandScheduler.getInstance().getDefaultButtonLoop());
|
||||
}
|
||||
|
||||
/**
|
||||
* Constructs a Trigger instance around the Miscellaneous 6 button's digital signal.
|
||||
*
|
||||
* @param loop the event loop instance to attach the event to.
|
||||
* @return a Trigger instance representing the Miscellaneous 6 button's digital signal attached to
|
||||
* the given loop.
|
||||
*/
|
||||
public Trigger misc6(EventLoop loop) {
|
||||
return button(Gamepad.Button.kMisc6.value, loop);
|
||||
}
|
||||
|
||||
/**
|
||||
* 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.
|
||||
* @param loop the event loop instance to attach the Trigger to.
|
||||
* @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(double threshold, EventLoop loop) {
|
||||
return axisGreaterThan(Gamepad.Axis.kLeftTrigger.value, threshold, loop);
|
||||
}
|
||||
|
||||
/**
|
||||
* 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(threshold, CommandScheduler.getInstance().getDefaultButtonLoop());
|
||||
}
|
||||
|
||||
/**
|
||||
* 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 axisGreaterThan(Gamepad.Axis.kRightTrigger.value, threshold, loop);
|
||||
}
|
||||
|
||||
/**
|
||||
* 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. Right is positive.
|
||||
*
|
||||
* @return The axis value.
|
||||
*/
|
||||
public double getLeftX() {
|
||||
return m_hid.getLeftX();
|
||||
}
|
||||
|
||||
/**
|
||||
* Get the Y axis value of left side of the controller. Back is positive.
|
||||
*
|
||||
* @return The axis value.
|
||||
*/
|
||||
public double getLeftY() {
|
||||
return m_hid.getLeftY();
|
||||
}
|
||||
|
||||
/**
|
||||
* Get the X axis value of right side of the controller. Right is positive.
|
||||
*
|
||||
* @return The axis value.
|
||||
*/
|
||||
public double getRightX() {
|
||||
return m_hid.getRightX();
|
||||
}
|
||||
|
||||
/**
|
||||
* Get the Y axis value of right side of the controller. Back is positive.
|
||||
*
|
||||
* @return The axis value.
|
||||
*/
|
||||
public double getRightY() {
|
||||
return m_hid.getRightY();
|
||||
}
|
||||
|
||||
/**
|
||||
* Get the left trigger axis value of the controller. Note that this axis is bound to the range of
|
||||
* [0, 1] as opposed to the usual [-1, 1].
|
||||
*
|
||||
* @return The axis value.
|
||||
*/
|
||||
public double getLeftTriggerAxis() {
|
||||
return m_hid.getLeftTriggerAxis();
|
||||
}
|
||||
|
||||
/**
|
||||
* Get the right trigger axis value of the controller. Note that this axis is bound to the range
|
||||
* of [0, 1] as opposed to the usual [-1, 1].
|
||||
*
|
||||
* @return The axis value.
|
||||
*/
|
||||
public double getRightTriggerAxis() {
|
||||
return m_hid.getRightTriggerAxis();
|
||||
}
|
||||
}
|
||||
@@ -0,0 +1,156 @@
|
||||
// Copyright (c) FIRST and other WPILib contributors.
|
||||
// Open Source Software; you can modify and/or share it under the terms of
|
||||
// the WPILib BSD license file in the root directory of this project.
|
||||
|
||||
#include "frc2/command/button/CommandGamepad.h"
|
||||
|
||||
using namespace frc2;
|
||||
|
||||
CommandGamepad::CommandGamepad(int port)
|
||||
: CommandGenericHID(port), m_hid{frc::Gamepad(port)} {}
|
||||
|
||||
frc::Gamepad& CommandGamepad::GetHID() {
|
||||
return m_hid;
|
||||
}
|
||||
|
||||
Trigger CommandGamepad::SouthFace(frc::EventLoop* loop) const {
|
||||
return Button(frc::Gamepad::Button::kSouthFace, loop);
|
||||
}
|
||||
|
||||
Trigger CommandGamepad::EastFace(frc::EventLoop* loop) const {
|
||||
return Button(frc::Gamepad::Button::kEastFace, loop);
|
||||
}
|
||||
|
||||
Trigger CommandGamepad::WestFace(frc::EventLoop* loop) const {
|
||||
return Button(frc::Gamepad::Button::kWestFace, loop);
|
||||
}
|
||||
|
||||
Trigger CommandGamepad::NorthFacen(frc::EventLoop* loop) const {
|
||||
return Button(frc::Gamepad::Button::kNorthFacen, loop);
|
||||
}
|
||||
|
||||
Trigger CommandGamepad::Back(frc::EventLoop* loop) const {
|
||||
return Button(frc::Gamepad::Button::kBack, loop);
|
||||
}
|
||||
|
||||
Trigger CommandGamepad::Guide(frc::EventLoop* loop) const {
|
||||
return Button(frc::Gamepad::Button::kGuide, loop);
|
||||
}
|
||||
|
||||
Trigger CommandGamepad::Start(frc::EventLoop* loop) const {
|
||||
return Button(frc::Gamepad::Button::kStart, loop);
|
||||
}
|
||||
|
||||
Trigger CommandGamepad::LeftStick(frc::EventLoop* loop) const {
|
||||
return Button(frc::Gamepad::Button::kLeftStick, loop);
|
||||
}
|
||||
|
||||
Trigger CommandGamepad::RightStick(frc::EventLoop* loop) const {
|
||||
return Button(frc::Gamepad::Button::kRightStick, loop);
|
||||
}
|
||||
|
||||
Trigger CommandGamepad::LeftShoulder(frc::EventLoop* loop) const {
|
||||
return Button(frc::Gamepad::Button::kLeftShoulder, loop);
|
||||
}
|
||||
|
||||
Trigger CommandGamepad::RightShoulder(frc::EventLoop* loop) const {
|
||||
return Button(frc::Gamepad::Button::kRightShoulder, loop);
|
||||
}
|
||||
|
||||
Trigger CommandGamepad::DpadUp(frc::EventLoop* loop) const {
|
||||
return Button(frc::Gamepad::Button::kDpadUp, loop);
|
||||
}
|
||||
|
||||
Trigger CommandGamepad::DpadDown(frc::EventLoop* loop) const {
|
||||
return Button(frc::Gamepad::Button::kDpadDown, loop);
|
||||
}
|
||||
|
||||
Trigger CommandGamepad::DpadLeft(frc::EventLoop* loop) const {
|
||||
return Button(frc::Gamepad::Button::kDpadLeft, loop);
|
||||
}
|
||||
|
||||
Trigger CommandGamepad::DpadRight(frc::EventLoop* loop) const {
|
||||
return Button(frc::Gamepad::Button::kDpadRight, loop);
|
||||
}
|
||||
|
||||
Trigger CommandGamepad::Misc1(frc::EventLoop* loop) const {
|
||||
return Button(frc::Gamepad::Button::kMisc1, loop);
|
||||
}
|
||||
|
||||
Trigger CommandGamepad::RightPaddle1(frc::EventLoop* loop) const {
|
||||
return Button(frc::Gamepad::Button::kRightPaddle1, loop);
|
||||
}
|
||||
|
||||
Trigger CommandGamepad::LeftPaddle1(frc::EventLoop* loop) const {
|
||||
return Button(frc::Gamepad::Button::kLeftPaddle1, loop);
|
||||
}
|
||||
|
||||
Trigger CommandGamepad::RightPaddle2(frc::EventLoop* loop) const {
|
||||
return Button(frc::Gamepad::Button::kRightPaddle2, loop);
|
||||
}
|
||||
|
||||
Trigger CommandGamepad::LeftPaddle2(frc::EventLoop* loop) const {
|
||||
return Button(frc::Gamepad::Button::kLeftPaddle2, loop);
|
||||
}
|
||||
|
||||
Trigger CommandGamepad::Touchpad(frc::EventLoop* loop) const {
|
||||
return Button(frc::Gamepad::Button::kTouchpad, loop);
|
||||
}
|
||||
|
||||
Trigger CommandGamepad::Misc2(frc::EventLoop* loop) const {
|
||||
return Button(frc::Gamepad::Button::kMisc2, loop);
|
||||
}
|
||||
|
||||
Trigger CommandGamepad::Misc3(frc::EventLoop* loop) const {
|
||||
return Button(frc::Gamepad::Button::kMisc3, loop);
|
||||
}
|
||||
|
||||
Trigger CommandGamepad::Misc4(frc::EventLoop* loop) const {
|
||||
return Button(frc::Gamepad::Button::kMisc4, loop);
|
||||
}
|
||||
|
||||
Trigger CommandGamepad::Misc5(frc::EventLoop* loop) const {
|
||||
return Button(frc::Gamepad::Button::kMisc5, loop);
|
||||
}
|
||||
|
||||
Trigger CommandGamepad::Misc6(frc::EventLoop* loop) const {
|
||||
return Button(frc::Gamepad::Button::kMisc6, loop);
|
||||
}
|
||||
|
||||
Trigger CommandGamepad::LeftTrigger(double threshold,
|
||||
frc::EventLoop* loop) const {
|
||||
return Trigger(loop, [this, threshold] {
|
||||
return m_hid.GetLeftTriggerAxis() > threshold;
|
||||
});
|
||||
}
|
||||
|
||||
Trigger CommandGamepad::RightTrigger(double threshold,
|
||||
frc::EventLoop* loop) const {
|
||||
return Trigger(loop, [this, threshold] {
|
||||
return m_hid.GetRightTriggerAxis() > threshold;
|
||||
});
|
||||
}
|
||||
|
||||
double CommandGamepad::GetLeftX() const {
|
||||
return m_hid.GetLeftX();
|
||||
}
|
||||
|
||||
double CommandGamepad::GetLeftY() const {
|
||||
return m_hid.GetLeftY();
|
||||
}
|
||||
|
||||
double CommandGamepad::GetRightX() const {
|
||||
return m_hid.GetRightX();
|
||||
}
|
||||
|
||||
double CommandGamepad::GetRightY() const {
|
||||
return m_hid.GetRightY();
|
||||
}
|
||||
|
||||
double CommandGamepad::GetLeftTriggerAxis() const {
|
||||
return m_hid.GetLeftTriggerAxis();
|
||||
}
|
||||
|
||||
double CommandGamepad::GetRightTriggerAxis() const {
|
||||
return m_hid.GetRightTriggerAxis();
|
||||
}
|
||||
@@ -0,0 +1,434 @@
|
||||
// Copyright (c) FIRST and other WPILib contributors.
|
||||
// Open Source Software; you can modify and/or share it under the terms of
|
||||
// the WPILib BSD license file in the root directory of this project.
|
||||
|
||||
#pragma once
|
||||
#include <frc/Gamepad.h>
|
||||
|
||||
#include "frc2/command/CommandScheduler.h"
|
||||
#include "frc2/command/button/CommandGenericHID.h"
|
||||
#include "frc2/command/button/Trigger.h"
|
||||
|
||||
namespace frc2 {
|
||||
/**
|
||||
* A version of {@link frc::Gamepad} with {@link Trigger} factories for
|
||||
* command-based.
|
||||
*
|
||||
* @see frc::Gamepad
|
||||
*/
|
||||
class CommandGamepad : public CommandGenericHID {
|
||||
public:
|
||||
/**
|
||||
* Construct an instance of a controller.
|
||||
*
|
||||
* @param port The port index on the Driver Station that the controller is
|
||||
* plugged into.
|
||||
*/
|
||||
explicit CommandGamepad(int port);
|
||||
|
||||
/**
|
||||
* Get the underlying GenericHID object.
|
||||
*
|
||||
* @return the wrapped GenericHID object
|
||||
*/
|
||||
frc::Gamepad& GetHID();
|
||||
|
||||
/**
|
||||
* Constructs a Trigger instance around the South Face button's
|
||||
* digital signal.
|
||||
*
|
||||
* @param loop the event loop instance to attach the event to. Defaults to the
|
||||
* CommandScheduler's default loop.
|
||||
* @return a Trigger instance representing the South Face button's
|
||||
* digital signal attached to the given loop.
|
||||
*/
|
||||
Trigger SouthFace(frc::EventLoop* loop = CommandScheduler::GetInstance()
|
||||
.GetDefaultButtonLoop()) const;
|
||||
|
||||
/**
|
||||
* Constructs a Trigger instance around the East Face button's
|
||||
* digital signal.
|
||||
*
|
||||
* @param loop the event loop instance to attach the event to. Defaults to the
|
||||
* CommandScheduler's default loop.
|
||||
* @return a Trigger instance representing the East Face button's
|
||||
* digital signal attached to the given loop.
|
||||
*/
|
||||
Trigger EastFace(frc::EventLoop* loop = CommandScheduler::GetInstance()
|
||||
.GetDefaultButtonLoop()) const;
|
||||
|
||||
/**
|
||||
* Constructs a Trigger instance around the West Face button's
|
||||
* digital signal.
|
||||
*
|
||||
* @param loop the event loop instance to attach the event to. Defaults to the
|
||||
* CommandScheduler's default loop.
|
||||
* @return a Trigger instance representing the West Face button's
|
||||
* digital signal attached to the given loop.
|
||||
*/
|
||||
Trigger WestFace(frc::EventLoop* loop = CommandScheduler::GetInstance()
|
||||
.GetDefaultButtonLoop()) const;
|
||||
|
||||
/**
|
||||
* Constructs a Trigger instance around the North Face button's
|
||||
* digital signal.
|
||||
*
|
||||
* @param loop the event loop instance to attach the event to. Defaults to the
|
||||
* CommandScheduler's default loop.
|
||||
* @return a Trigger instance representing the North Face button's
|
||||
* digital signal attached to the given loop.
|
||||
*/
|
||||
Trigger NorthFacen(frc::EventLoop* loop = CommandScheduler::GetInstance()
|
||||
.GetDefaultButtonLoop()) const;
|
||||
|
||||
/**
|
||||
* Constructs a Trigger instance around the Back button's
|
||||
* digital signal.
|
||||
*
|
||||
* @param loop the event loop instance to attach the event to. Defaults to the
|
||||
* CommandScheduler's default loop.
|
||||
* @return a Trigger instance representing the Back button's
|
||||
* digital signal attached to the given loop.
|
||||
*/
|
||||
Trigger Back(frc::EventLoop* loop = CommandScheduler::GetInstance()
|
||||
.GetDefaultButtonLoop()) const;
|
||||
|
||||
/**
|
||||
* Constructs a Trigger instance around the Guide button's
|
||||
* digital signal.
|
||||
*
|
||||
* @param loop the event loop instance to attach the event to. Defaults to the
|
||||
* CommandScheduler's default loop.
|
||||
* @return a Trigger instance representing the Guide button's
|
||||
* digital signal attached to the given loop.
|
||||
*/
|
||||
Trigger Guide(frc::EventLoop* loop = CommandScheduler::GetInstance()
|
||||
.GetDefaultButtonLoop()) const;
|
||||
|
||||
/**
|
||||
* Constructs a Trigger instance around the Start button's
|
||||
* digital signal.
|
||||
*
|
||||
* @param loop the event loop instance to attach the event to. Defaults to the
|
||||
* CommandScheduler's default loop.
|
||||
* @return a Trigger instance representing the Start button's
|
||||
* digital signal attached to the given loop.
|
||||
*/
|
||||
Trigger Start(frc::EventLoop* loop = CommandScheduler::GetInstance()
|
||||
.GetDefaultButtonLoop()) const;
|
||||
|
||||
/**
|
||||
* Constructs a Trigger instance around the left stick button's
|
||||
* digital signal.
|
||||
*
|
||||
* @param loop the event loop instance to attach the event to. Defaults to the
|
||||
* CommandScheduler's default loop.
|
||||
* @return a Trigger instance representing the left stick button's
|
||||
* digital signal attached to the given loop.
|
||||
*/
|
||||
Trigger LeftStick(frc::EventLoop* loop = CommandScheduler::GetInstance()
|
||||
.GetDefaultButtonLoop()) const;
|
||||
|
||||
/**
|
||||
* Constructs a Trigger instance around the right stick button's
|
||||
* digital signal.
|
||||
*
|
||||
* @param loop the event loop instance to attach the event to. Defaults to the
|
||||
* CommandScheduler's default loop.
|
||||
* @return a Trigger instance representing the right stick button's
|
||||
* digital signal attached to the given loop.
|
||||
*/
|
||||
Trigger RightStick(frc::EventLoop* loop = CommandScheduler::GetInstance()
|
||||
.GetDefaultButtonLoop()) const;
|
||||
|
||||
/**
|
||||
* Constructs a Trigger instance around the right shoulder button's
|
||||
* digital signal.
|
||||
*
|
||||
* @param loop the event loop instance to attach the event to. Defaults to the
|
||||
* CommandScheduler's default loop.
|
||||
* @return a Trigger instance representing the right shoulder button's
|
||||
* digital signal attached to the given loop.
|
||||
*/
|
||||
Trigger LeftShoulder(
|
||||
frc::EventLoop* loop =
|
||||
CommandScheduler::GetInstance().GetDefaultButtonLoop()) const;
|
||||
|
||||
/**
|
||||
* Constructs a Trigger instance around the right shoulder button's
|
||||
* digital signal.
|
||||
*
|
||||
* @param loop the event loop instance to attach the event to. Defaults to the
|
||||
* CommandScheduler's default loop.
|
||||
* @return a Trigger instance representing the right shoulder button's
|
||||
* digital signal attached to the given loop.
|
||||
*/
|
||||
Trigger RightShoulder(
|
||||
frc::EventLoop* loop =
|
||||
CommandScheduler::GetInstance().GetDefaultButtonLoop()) const;
|
||||
|
||||
/**
|
||||
* Constructs a Trigger instance around the D-pad up button's
|
||||
* digital signal.
|
||||
*
|
||||
* @param loop the event loop instance to attach the event to. Defaults to the
|
||||
* CommandScheduler's default loop.
|
||||
* @return a Trigger instance representing the D-pad up button's
|
||||
* digital signal attached to the given loop.
|
||||
*/
|
||||
Trigger DpadUp(frc::EventLoop* loop = CommandScheduler::GetInstance()
|
||||
.GetDefaultButtonLoop()) const;
|
||||
|
||||
/**
|
||||
* Constructs a Trigger instance around the D-pad down button's
|
||||
* digital signal.
|
||||
*
|
||||
* @param loop the event loop instance to attach the event to. Defaults to the
|
||||
* CommandScheduler's default loop.
|
||||
* @return a Trigger instance representing the D-pad down button's
|
||||
* digital signal attached to the given loop.
|
||||
*/
|
||||
Trigger DpadDown(frc::EventLoop* loop = CommandScheduler::GetInstance()
|
||||
.GetDefaultButtonLoop()) const;
|
||||
|
||||
/**
|
||||
* Constructs a Trigger instance around the D-pad left button's
|
||||
* digital signal.
|
||||
*
|
||||
* @param loop the event loop instance to attach the event to. Defaults to the
|
||||
* CommandScheduler's default loop.
|
||||
* @return a Trigger instance representing the D-pad left button's
|
||||
* digital signal attached to the given loop.
|
||||
*/
|
||||
Trigger DpadLeft(frc::EventLoop* loop = CommandScheduler::GetInstance()
|
||||
.GetDefaultButtonLoop()) const;
|
||||
|
||||
/**
|
||||
* Constructs a Trigger instance around the D-pad right button's
|
||||
* digital signal.
|
||||
*
|
||||
* @param loop the event loop instance to attach the event to. Defaults to the
|
||||
* CommandScheduler's default loop.
|
||||
* @return a Trigger instance representing the D-pad right button's
|
||||
* digital signal attached to the given loop.
|
||||
*/
|
||||
Trigger DpadRight(frc::EventLoop* loop = CommandScheduler::GetInstance()
|
||||
.GetDefaultButtonLoop()) const;
|
||||
|
||||
/**
|
||||
* Constructs a Trigger instance around the Miscellaneous 1 button's
|
||||
* digital signal.
|
||||
*
|
||||
* @param loop the event loop instance to attach the event to. Defaults to the
|
||||
* CommandScheduler's default loop.
|
||||
* @return a Trigger instance representing the Miscellaneous 1 button's
|
||||
* digital signal attached to the given loop.
|
||||
*/
|
||||
Trigger Misc1(frc::EventLoop* loop = CommandScheduler::GetInstance()
|
||||
.GetDefaultButtonLoop()) const;
|
||||
|
||||
/**
|
||||
* Constructs a Trigger instance around the Right Paddle 1 button's
|
||||
* digital signal.
|
||||
*
|
||||
* @param loop the event loop instance to attach the event to. Defaults to the
|
||||
* CommandScheduler's default loop.
|
||||
* @return a Trigger instance representing the Right Paddle 1 button's
|
||||
* digital signal attached to the given loop.
|
||||
*/
|
||||
Trigger RightPaddle1(
|
||||
frc::EventLoop* loop =
|
||||
CommandScheduler::GetInstance().GetDefaultButtonLoop()) const;
|
||||
|
||||
/**
|
||||
* Constructs a Trigger instance around the Left Paddle 1 button's
|
||||
* digital signal.
|
||||
*
|
||||
* @param loop the event loop instance to attach the event to. Defaults to the
|
||||
* CommandScheduler's default loop.
|
||||
* @return a Trigger instance representing the Left Paddle 1 button's
|
||||
* digital signal attached to the given loop.
|
||||
*/
|
||||
Trigger LeftPaddle1(frc::EventLoop* loop = CommandScheduler::GetInstance()
|
||||
.GetDefaultButtonLoop()) const;
|
||||
|
||||
/**
|
||||
* Constructs a Trigger instance around the Right Paddle 2 button's
|
||||
* digital signal.
|
||||
*
|
||||
* @param loop the event loop instance to attach the event to. Defaults to the
|
||||
* CommandScheduler's default loop.
|
||||
* @return a Trigger instance representing the Right Paddle 2 button's
|
||||
* digital signal attached to the given loop.
|
||||
*/
|
||||
Trigger RightPaddle2(
|
||||
frc::EventLoop* loop =
|
||||
CommandScheduler::GetInstance().GetDefaultButtonLoop()) const;
|
||||
|
||||
/**
|
||||
* Constructs a Trigger instance around the Left Paddle 2 button's
|
||||
* digital signal.
|
||||
*
|
||||
* @param loop the event loop instance to attach the event to. Defaults to the
|
||||
* CommandScheduler's default loop.
|
||||
* @return a Trigger instance representing the Left Paddle 2 button's
|
||||
* digital signal attached to the given loop.
|
||||
*/
|
||||
Trigger LeftPaddle2(frc::EventLoop* loop = CommandScheduler::GetInstance()
|
||||
.GetDefaultButtonLoop()) const;
|
||||
|
||||
/**
|
||||
* Constructs a Trigger instance around the Touchpad button's
|
||||
* digital signal.
|
||||
*
|
||||
* @param loop the event loop instance to attach the event to. Defaults to the
|
||||
* CommandScheduler's default loop.
|
||||
* @return a Trigger instance representing the Touchpad button's
|
||||
* digital signal attached to the given loop.
|
||||
*/
|
||||
Trigger Touchpad(frc::EventLoop* loop = CommandScheduler::GetInstance()
|
||||
.GetDefaultButtonLoop()) const;
|
||||
|
||||
/**
|
||||
* Constructs a Trigger instance around the Miscellaneous 2 button's
|
||||
* digital signal.
|
||||
*
|
||||
* @param loop the event loop instance to attach the event to. Defaults to the
|
||||
* CommandScheduler's default loop.
|
||||
* @return a Trigger instance representing the Miscellaneous 2 button's
|
||||
* digital signal attached to the given loop.
|
||||
*/
|
||||
Trigger Misc2(frc::EventLoop* loop = CommandScheduler::GetInstance()
|
||||
.GetDefaultButtonLoop()) const;
|
||||
|
||||
/**
|
||||
* Constructs a Trigger instance around the Miscellaneous 3 button's
|
||||
* digital signal.
|
||||
*
|
||||
* @param loop the event loop instance to attach the event to. Defaults to the
|
||||
* CommandScheduler's default loop.
|
||||
* @return a Trigger instance representing the Miscellaneous 3 button's
|
||||
* digital signal attached to the given loop.
|
||||
*/
|
||||
Trigger Misc3(frc::EventLoop* loop = CommandScheduler::GetInstance()
|
||||
.GetDefaultButtonLoop()) const;
|
||||
|
||||
/**
|
||||
* Constructs a Trigger instance around the Miscellaneous 4 button's
|
||||
* digital signal.
|
||||
*
|
||||
* @param loop the event loop instance to attach the event to. Defaults to the
|
||||
* CommandScheduler's default loop.
|
||||
* @return a Trigger instance representing the Miscellaneous 4 button's
|
||||
* digital signal attached to the given loop.
|
||||
*/
|
||||
Trigger Misc4(frc::EventLoop* loop = CommandScheduler::GetInstance()
|
||||
.GetDefaultButtonLoop()) const;
|
||||
|
||||
/**
|
||||
* Constructs a Trigger instance around the Miscellaneous 5 button's
|
||||
* digital signal.
|
||||
*
|
||||
* @param loop the event loop instance to attach the event to. Defaults to the
|
||||
* CommandScheduler's default loop.
|
||||
* @return a Trigger instance representing the Miscellaneous 5 button's
|
||||
* digital signal attached to the given loop.
|
||||
*/
|
||||
Trigger Misc5(frc::EventLoop* loop = CommandScheduler::GetInstance()
|
||||
.GetDefaultButtonLoop()) const;
|
||||
|
||||
/**
|
||||
* Constructs a Trigger instance around the Miscellaneous 6 button's
|
||||
* digital signal.
|
||||
*
|
||||
* @param loop the event loop instance to attach the event to. Defaults to the
|
||||
* CommandScheduler's default loop.
|
||||
* @return a Trigger instance representing the Miscellaneous 6 button's
|
||||
* digital signal attached to the given loop.
|
||||
*/
|
||||
Trigger Misc6(frc::EventLoop* loop = CommandScheduler::GetInstance()
|
||||
.GetDefaultButtonLoop()) const;
|
||||
|
||||
/**
|
||||
* 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 Trigger to be
|
||||
* true. This value should be in the range [0, 1] where 0 is the unpressed
|
||||
* state of the axis. Defaults to 0.5.
|
||||
* @param loop the event loop instance to attach the Trigger to. Defaults to
|
||||
* the CommandScheduler's default loop.
|
||||
* @return a Trigger instance that is true when the left trigger's axis
|
||||
* exceeds the provided threshold, attached to the given loop
|
||||
*/
|
||||
Trigger LeftTrigger(double threshold = 0.5,
|
||||
frc::EventLoop* loop = CommandScheduler::GetInstance()
|
||||
.GetDefaultButtonLoop()) const;
|
||||
|
||||
/**
|
||||
* 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 Trigger to be
|
||||
* true. This value should be in the range [0, 1] where 0 is the unpressed
|
||||
* state of the axis. Defaults to 0.5.
|
||||
* @param loop the event loop instance to attach the Trigger to. Defaults to
|
||||
* the CommandScheduler's default loop.
|
||||
* @return a Trigger instance that is true when the right trigger's axis
|
||||
* exceeds the provided threshold, attached to the given loop
|
||||
*/
|
||||
Trigger RightTrigger(
|
||||
double threshold = 0.5,
|
||||
frc::EventLoop* loop =
|
||||
CommandScheduler::GetInstance().GetDefaultButtonLoop()) const;
|
||||
|
||||
/**
|
||||
* Get the X axis value of left side of the controller. Right is positive.
|
||||
*
|
||||
* @return The axis value.
|
||||
*/
|
||||
double GetLeftX() const;
|
||||
|
||||
/**
|
||||
* Get the Y axis value of left side of the controller. Back is positive.
|
||||
*
|
||||
* @return The axis value.
|
||||
*/
|
||||
double GetLeftY() const;
|
||||
|
||||
/**
|
||||
* Get the X axis value of right side of the controller. Right is positive.
|
||||
*
|
||||
* @return The axis value.
|
||||
*/
|
||||
double GetRightX() const;
|
||||
|
||||
/**
|
||||
* Get the Y axis value of right side of the controller. Back is positive.
|
||||
*
|
||||
* @return The axis value.
|
||||
*/
|
||||
double GetRightY() const;
|
||||
|
||||
/**
|
||||
* Get the left trigger axis value of the controller. Note that this axis is
|
||||
* bound to the range of [0, 1] as opposed to the usual [-1, 1].
|
||||
*
|
||||
* @return The axis value.
|
||||
*/
|
||||
double GetLeftTriggerAxis() const;
|
||||
|
||||
/**
|
||||
* Get the right trigger axis value of the controller. Note that this axis is
|
||||
* bound to the range of [0, 1] as opposed to the usual [-1, 1].
|
||||
*
|
||||
* @return The axis value.
|
||||
*/
|
||||
double GetRightTriggerAxis() const;
|
||||
|
||||
private:
|
||||
frc::Gamepad m_hid;
|
||||
};
|
||||
} // namespace frc2
|
||||
Reference in New Issue
Block a user