[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.
2026-07-02 02:51:42 +00:00 · 2025-10-25 23:03:50 -07:00
parent 429698f508
commit 2e10f91e07
62 changed files with 6101 additions and 1066 deletions
--- a/wpilibNewCommands/src/main/native/cpp/frc2/command/button/CommandGamepad.cpp
+++ b/wpilibNewCommands/src/main/native/cpp/frc2/command/button/CommandGamepad.cpp
@@ -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();
+}
--- a/wpilibNewCommands/src/main/native/include/frc2/command/button/CommandGamepad.h
+++ b/wpilibNewCommands/src/main/native/include/frc2/command/button/CommandGamepad.h
@@ -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