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https://github.com/wpilibsuite/allwpilib
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[wpilib,commands] Use Jinja to generate HID classes (#6274)
This commit is contained in:
Gold856
@@ -1,239 +0,0 @@
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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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#pragma once
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#include <frc/PS4Controller.h>
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#include "Trigger.h"
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#include "frc2/command/CommandScheduler.h"
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#include "frc2/command/button/CommandGenericHID.h"
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namespace frc2 {
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/**
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* A version of {@link frc::PS4Controller} with {@link Trigger} factories for
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* command-based.
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*
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* @see frc::PS4Controller
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*/
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class CommandPS4Controller : public frc2::CommandGenericHID {
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public:
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/**
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* Construct an instance of a device.
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*
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* @param port The port index on the Driver Station that the device is plugged
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* into.
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*/
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explicit CommandPS4Controller(int port);
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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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frc::PS4Controller& GetHID();
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/**
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* Constructs an event instance around this button's digital signal.
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*
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* @param button the button index
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* @param loop the event loop instance to attach the event to. Defaults to the
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* CommandScheduler's default loop.
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* @return an event instance representing the button's digital signal attached
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* to the given loop.
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*/
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Trigger Button(int button,
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frc::EventLoop* loop = CommandScheduler::GetInstance()
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.GetDefaultButtonLoop()) const;
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/**
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* Constructs an event instance around the square button's digital signal.
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*
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* @param loop the event loop instance to attach the event to. Defaults to the
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* CommandScheduler's default loop.
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* @return an event instance representing the square button's digital signal
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* attached to the given loop.
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*/
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Trigger Square(frc::EventLoop* loop = CommandScheduler::GetInstance()
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.GetDefaultButtonLoop()) const;
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/**
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* Constructs an event instance around the cross button's digital signal.
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*
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* @param loop the event loop instance to attach the event to. Defaults to the
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* CommandScheduler's default loop.
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* @return an event instance representing the cross button's digital signal
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* attached to the given loop.
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*/
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Trigger Cross(frc::EventLoop* loop = CommandScheduler::GetInstance()
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.GetDefaultButtonLoop()) const;
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/**
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* Constructs an event instance around the circle button's digital signal.
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*
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* @param loop the event loop instance to attach the event to. Defaults to the
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* CommandScheduler's default loop.
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* @return an event instance representing the circle button's digital signal
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* attached to the given loop.
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*/
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Trigger Circle(frc::EventLoop* loop = CommandScheduler::GetInstance()
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.GetDefaultButtonLoop()) const;
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/**
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* Constructs an event instance around the triangle button's digital signal.
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*
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* @param loop the event loop instance to attach the event to. Defaults to the
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* CommandScheduler's default loop.
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* @return an event instance representing the triangle button's digital signal
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* attached to the given loop.
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*/
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Trigger Triangle(frc::EventLoop* loop = CommandScheduler::GetInstance()
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.GetDefaultButtonLoop()) const;
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/**
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* Constructs an event instance around the L1 button's digital signal.
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*
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* @param loop the event loop instance to attach the event to. Defaults to the
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* CommandScheduler's default loop.
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* @return an event instance representing the L1 button's digital signal
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* attached to the given loop.
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*/
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Trigger L1(frc::EventLoop* loop =
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CommandScheduler::GetInstance().GetDefaultButtonLoop()) const;
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/**
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* Constructs an event instance around the R1 button's digital signal.
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*
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* @param loop the event loop instance to attach the event to. Defaults to the
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* CommandScheduler's default loop.
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* @return an event instance representing the R1 button's digital signal
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* attached to the given loop.
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*/
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Trigger R1(frc::EventLoop* loop =
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CommandScheduler::GetInstance().GetDefaultButtonLoop()) const;
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/**
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* Constructs an event instance around the L2 button's digital signal.
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*
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* @param loop the event loop instance to attach the event to. Defaults to the
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* CommandScheduler's default loop.
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* @return an event instance representing the L2 button's digital signal
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* attached to the given loop.
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*/
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Trigger L2(frc::EventLoop* loop =
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CommandScheduler::GetInstance().GetDefaultButtonLoop()) const;
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/**
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* Constructs an event instance around the R2 button's digital signal.
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*
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* @param loop the event loop instance to attach the event to. Defaults to the
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* CommandScheduler's default loop.
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* @return an event instance representing the R2 button's digital signal
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* attached to the given loop.
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*/
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Trigger R2(frc::EventLoop* loop =
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CommandScheduler::GetInstance().GetDefaultButtonLoop()) const;
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/**
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* Constructs an event instance around the options button's digital signal.
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*
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* @param loop the event loop instance to attach the event to. Defaults to the
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* CommandScheduler's default loop.
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* @return an event instance representing the options button's digital signal
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* attached to the given loop.
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*/
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Trigger Options(frc::EventLoop* loop = CommandScheduler::GetInstance()
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.GetDefaultButtonLoop()) const;
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/**
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* Constructs an event instance around the L3 button's digital signal.
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*
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* @param loop the event loop instance to attach the event to. Defaults to the
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* CommandScheduler's default loop.
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* @return an event instance representing the L3 button's digital signal
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* attached to the given loop.
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*/
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Trigger L3(frc::EventLoop* loop =
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CommandScheduler::GetInstance().GetDefaultButtonLoop()) const;
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/**
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* Constructs an event instance around the R3 button's digital signal.
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*
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* @param loop the event loop instance to attach the event to. Defaults to the
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* CommandScheduler's default loop.
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* @return an event instance representing the R3 button's digital signal
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* attached to the given loop.
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*/
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Trigger R3(frc::EventLoop* loop =
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CommandScheduler::GetInstance().GetDefaultButtonLoop()) const;
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/**
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* Constructs an event instance around the PS button's digital signal.
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*
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* @param loop the event loop instance to attach the event to. Defaults to the
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* CommandScheduler's default loop.
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* @return an event instance representing the PS button's digital signal
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* attached to the given loop.
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*/
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Trigger PS(frc::EventLoop* loop =
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CommandScheduler::GetInstance().GetDefaultButtonLoop()) const;
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/**
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* Constructs an event instance around the touchpad's digital signal.
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*
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* @param loop the event loop instance to attach the event to. Defaults to the
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* CommandScheduler's default loop.
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* @return an event instance representing the touchpad's digital signal
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* attached to the given loop.
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*/
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Trigger Touchpad(frc::EventLoop* loop = CommandScheduler::GetInstance()
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.GetDefaultButtonLoop()) const;
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/**
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* Get the R2 axis value of the controller. Note that this axis is bound to
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* the range of [0, 1] as opposed to the usual [-1, 1].
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*
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* @return the axis value.
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*/
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double GetR2Axis();
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/**
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* Get the L2 axis value of the controller. Note that this axis is bound to
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* the range of [0, 1] as opposed to the usual [-1, 1].
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*
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* @return the axis value.
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*/
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double GetL2Axis();
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/**
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* Get the Y axis value of right side of the controller.
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*
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* @return the axis value.
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*/
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double GetRightY();
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/**
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* Get the Y axis value of left side of the controller.
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*
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* @return the axis value.
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*/
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double GetLeftY();
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/**
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* Get the X axis value of right side of the controller.
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*
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* @return the axis value.
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*/
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double GetRightX();
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/**
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* Get the X axis value of left side of the controller.
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*
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* @return the axis value.
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*/
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double GetLeftX();
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private:
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frc::PS4Controller m_hid;
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};
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} // namespace frc2
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@@ -1,226 +0,0 @@
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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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#pragma once
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#include <frc/PS5Controller.h>
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#include "Trigger.h"
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#include "frc2/command/CommandScheduler.h"
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#include "frc2/command/button/CommandGenericHID.h"
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namespace frc2 {
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/**
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* A version of {@link frc::PS5Controller} with {@link Trigger} factories for
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* command-based.
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*
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* @see frc::PS5Controller
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*/
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class CommandPS5Controller : public CommandGenericHID {
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public:
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/**
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* Construct an instance of a device.
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*
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* @param port The port index on the Driver Station that the device is plugged
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* into.
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*/
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explicit CommandPS5Controller(int port);
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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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frc::PS5Controller& GetHID();
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/**
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* Constructs an event instance around the square button's digital signal.
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*
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* @param loop the event loop instance to attach the event to. Defaults to the
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* CommandScheduler's default loop.
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* @return an event instance representing the square button's digital signal
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* attached to the given loop.
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*/
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Trigger Square(frc::EventLoop* loop = CommandScheduler::GetInstance()
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.GetDefaultButtonLoop()) const;
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/**
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* Constructs an event instance around the cross button's digital signal.
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*
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* @param loop the event loop instance to attach the event to. Defaults to the
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* CommandScheduler's default loop.
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* @return an event instance representing the cross button's digital signal
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* attached to the given loop.
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*/
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Trigger Cross(frc::EventLoop* loop = CommandScheduler::GetInstance()
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.GetDefaultButtonLoop()) const;
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/**
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* Constructs an event instance around the circle button's digital signal.
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*
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* @param loop the event loop instance to attach the event to. Defaults to the
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* CommandScheduler's default loop.
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* @return an event instance representing the circle button's digital signal
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* attached to the given loop.
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*/
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Trigger Circle(frc::EventLoop* loop = CommandScheduler::GetInstance()
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.GetDefaultButtonLoop()) const;
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/**
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* Constructs an event instance around the triangle button's digital signal.
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*
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* @param loop the event loop instance to attach the event to. Defaults to the
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* CommandScheduler's default loop.
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* @return an event instance representing the triangle button's digital signal
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* attached to the given loop.
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*/
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Trigger Triangle(frc::EventLoop* loop = CommandScheduler::GetInstance()
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.GetDefaultButtonLoop()) const;
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/**
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* Constructs an event instance around the L1 button's digital signal.
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*
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* @param loop the event loop instance to attach the event to. Defaults to the
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* CommandScheduler's default loop.
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* @return an event instance representing the L1 button's digital signal
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* attached to the given loop.
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*/
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Trigger L1(frc::EventLoop* loop =
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CommandScheduler::GetInstance().GetDefaultButtonLoop()) const;
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/**
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* Constructs an event instance around the R1 button's digital signal.
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*
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* @param loop the event loop instance to attach the event to. Defaults to the
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* CommandScheduler's default loop.
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* @return an event instance representing the R1 button's digital signal
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* attached to the given loop.
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*/
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Trigger R1(frc::EventLoop* loop =
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CommandScheduler::GetInstance().GetDefaultButtonLoop()) const;
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/**
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* Constructs an event instance around the L2 button's digital signal.
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*
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* @param loop the event loop instance to attach the event to. Defaults to the
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* CommandScheduler's default loop.
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* @return an event instance representing the L2 button's digital signal
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* attached to the given loop.
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*/
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Trigger L2(frc::EventLoop* loop =
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CommandScheduler::GetInstance().GetDefaultButtonLoop()) const;
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/**
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* Constructs an event instance around the R2 button's digital signal.
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*
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* @param loop the event loop instance to attach the event to. Defaults to the
|
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* CommandScheduler's default loop.
|
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* @return an event instance representing the R2 button's digital signal
|
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* attached to the given loop.
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*/
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Trigger R2(frc::EventLoop* loop =
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CommandScheduler::GetInstance().GetDefaultButtonLoop()) const;
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/**
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* Constructs an event instance around the options button's digital signal.
|
||||
*
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* @param loop the event loop instance to attach the event to. Defaults to the
|
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* CommandScheduler's default loop.
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* @return an event instance representing the options button's digital signal
|
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* attached to the given loop.
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*/
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Trigger Options(frc::EventLoop* loop = CommandScheduler::GetInstance()
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.GetDefaultButtonLoop()) const;
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/**
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* Constructs an event instance around the L3 button's digital signal.
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*
|
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* @param loop the event loop instance to attach the event to. Defaults to the
|
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* CommandScheduler's default loop.
|
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* @return an event instance representing the L3 button's digital signal
|
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* attached to the given loop.
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*/
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Trigger L3(frc::EventLoop* loop =
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CommandScheduler::GetInstance().GetDefaultButtonLoop()) const;
|
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|
||||
/**
|
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* Constructs an event instance around the R3 button's digital signal.
|
||||
*
|
||||
* @param loop the event loop instance to attach the event to. Defaults to the
|
||||
* CommandScheduler's default loop.
|
||||
* @return an event instance representing the R3 button's digital signal
|
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* attached to the given loop.
|
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*/
|
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Trigger R3(frc::EventLoop* loop =
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CommandScheduler::GetInstance().GetDefaultButtonLoop()) const;
|
||||
|
||||
/**
|
||||
* Constructs an event instance around the PS button's digital signal.
|
||||
*
|
||||
* @param loop the event loop instance to attach the event to. Defaults to the
|
||||
* CommandScheduler's default loop.
|
||||
* @return an event instance representing the PS button's digital signal
|
||||
* attached to the given loop.
|
||||
*/
|
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Trigger PS(frc::EventLoop* loop =
|
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CommandScheduler::GetInstance().GetDefaultButtonLoop()) const;
|
||||
|
||||
/**
|
||||
* Constructs an event instance around the touchpad's digital signal.
|
||||
*
|
||||
* @param loop the event loop instance to attach the event to. Defaults to the
|
||||
* CommandScheduler's default loop.
|
||||
* @return an event instance representing the touchpad's digital signal
|
||||
* attached to the given loop.
|
||||
*/
|
||||
Trigger Touchpad(frc::EventLoop* loop = CommandScheduler::GetInstance()
|
||||
.GetDefaultButtonLoop()) const;
|
||||
|
||||
/**
|
||||
* Get the R2 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 GetR2Axis();
|
||||
|
||||
/**
|
||||
* Get the L2 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 GetL2Axis();
|
||||
|
||||
/**
|
||||
* Get the Y axis value of right side of the controller.
|
||||
*
|
||||
* @return the axis value.
|
||||
*/
|
||||
double GetRightY();
|
||||
|
||||
/**
|
||||
* Get the Y axis value of left side of the controller.
|
||||
*
|
||||
* @return the axis value.
|
||||
*/
|
||||
double GetLeftY();
|
||||
|
||||
/**
|
||||
* Get the X axis value of right side of the controller.
|
||||
*
|
||||
* @return the axis value.
|
||||
*/
|
||||
double GetRightX();
|
||||
|
||||
/**
|
||||
* Get the X axis value of left side of the controller.
|
||||
*
|
||||
* @return the axis value.
|
||||
*/
|
||||
double GetLeftX();
|
||||
|
||||
private:
|
||||
frc::PS5Controller m_hid;
|
||||
};
|
||||
} // namespace frc2
|
||||
@@ -1,233 +0,0 @@
|
||||
// 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/StadiaController.h>
|
||||
|
||||
#include "Trigger.h"
|
||||
#include "frc2/command/CommandScheduler.h"
|
||||
#include "frc2/command/button/CommandGenericHID.h"
|
||||
|
||||
namespace frc2 {
|
||||
/**
|
||||
* A version of {@link frc::StadiaController} with {@link Trigger} factories for
|
||||
* command-based.
|
||||
*
|
||||
* @see frc::StadiaController
|
||||
*/
|
||||
class CommandStadiaController : 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 CommandStadiaController(int port);
|
||||
|
||||
/**
|
||||
* Get the underlying GenericHID object.
|
||||
*
|
||||
* @return the wrapped GenericHID object
|
||||
*/
|
||||
frc::StadiaController& GetHID();
|
||||
|
||||
/**
|
||||
* Constructs an event instance around the left bumper's digital signal.
|
||||
*
|
||||
* @param loop the event loop instance to attach the event to. Defaults to the
|
||||
* CommandScheduler's default loop.
|
||||
* @return an event instance representing the left bumper's digital signal
|
||||
* attached to the given loop.
|
||||
*/
|
||||
Trigger LeftBumper(frc::EventLoop* loop = CommandScheduler::GetInstance()
|
||||
.GetDefaultButtonLoop()) const;
|
||||
|
||||
/**
|
||||
* Constructs an event instance around the right bumper's digital signal.
|
||||
*
|
||||
* @param loop the event loop instance to attach the event to. Defaults to the
|
||||
* CommandScheduler's default loop.
|
||||
* @return an event instance representing the right bumper's digital signal
|
||||
* attached to the given loop.
|
||||
*/
|
||||
Trigger RightBumper(frc::EventLoop* loop = CommandScheduler::GetInstance()
|
||||
.GetDefaultButtonLoop()) const;
|
||||
|
||||
/**
|
||||
* Constructs an event instance around the left stick's digital signal.
|
||||
*
|
||||
* @param loop the event loop instance to attach the event to. Defaults to the
|
||||
* CommandScheduler's default loop.
|
||||
* @return an event instance representing the left stick's digital signal
|
||||
* attached to the given loop.
|
||||
*/
|
||||
Trigger LeftStick(frc::EventLoop* loop = CommandScheduler::GetInstance()
|
||||
.GetDefaultButtonLoop()) const;
|
||||
|
||||
/**
|
||||
* Constructs an event instance around the right stick's digital signal.
|
||||
*
|
||||
* @param loop the event loop instance to attach the event to. Defaults to the
|
||||
* CommandScheduler's default loop.
|
||||
* @return an event instance representing the right stick's digital signal
|
||||
* attached to the given loop.
|
||||
*/
|
||||
Trigger RightStick(frc::EventLoop* loop = CommandScheduler::GetInstance()
|
||||
.GetDefaultButtonLoop()) const;
|
||||
|
||||
/**
|
||||
* Constructs an event instance around the A button's digital signal.
|
||||
*
|
||||
* @param loop the event loop instance to attach the event to. Defaults to the
|
||||
* CommandScheduler's default loop.
|
||||
* @return an event instance representing the A button's digital signal
|
||||
* attached to the given loop.
|
||||
*/
|
||||
Trigger A(frc::EventLoop* loop =
|
||||
CommandScheduler::GetInstance().GetDefaultButtonLoop()) const;
|
||||
|
||||
/**
|
||||
* Constructs an event instance around the B button's digital signal.
|
||||
*
|
||||
* @param loop the event loop instance to attach the event to. Defaults to the
|
||||
* CommandScheduler's default loop.
|
||||
* @return an event instance representing the B button's digital signal
|
||||
* attached to the given loop.
|
||||
*/
|
||||
Trigger B(frc::EventLoop* loop =
|
||||
CommandScheduler::GetInstance().GetDefaultButtonLoop()) const;
|
||||
|
||||
/**
|
||||
* Constructs an event instance around the X button's digital signal.
|
||||
*
|
||||
* @param loop the event loop instance to attach the event to. Defaults to the
|
||||
* CommandScheduler's default loop.
|
||||
* @return an event instance representing the X button's digital signal
|
||||
* attached to the given loop.
|
||||
*/
|
||||
Trigger X(frc::EventLoop* loop =
|
||||
CommandScheduler::GetInstance().GetDefaultButtonLoop()) const;
|
||||
|
||||
/**
|
||||
* Constructs an event instance around the Y button's digital signal.
|
||||
*
|
||||
* @param loop the event loop instance to attach the event to. Defaults to the
|
||||
* CommandScheduler's default loop.
|
||||
* @return an event instance representing the Y button's digital signal
|
||||
* attached to the given loop.
|
||||
*/
|
||||
Trigger Y(frc::EventLoop* loop =
|
||||
CommandScheduler::GetInstance().GetDefaultButtonLoop()) const;
|
||||
|
||||
/**
|
||||
* Constructs an event instance around the ellipses button's digital signal.
|
||||
*
|
||||
* @param loop the event loop instance to attach the event to. Defaults to the
|
||||
* CommandScheduler's default loop.
|
||||
* @return an event instance representing the ellipses button's digital signal
|
||||
* attached to the given loop.
|
||||
*/
|
||||
Trigger Ellipses(frc::EventLoop* loop = CommandScheduler::GetInstance()
|
||||
.GetDefaultButtonLoop()) const;
|
||||
|
||||
/**
|
||||
* Constructs an event instance around the hamburger button's digital signal.
|
||||
*
|
||||
* @param loop the event loop instance to attach the event to. Defaults to the
|
||||
* CommandScheduler's default loop.
|
||||
* @return an event instance representing the hamburger button's digital
|
||||
* signal attached to the given loop.
|
||||
*/
|
||||
Trigger Hamburger(frc::EventLoop* loop = CommandScheduler::GetInstance()
|
||||
.GetDefaultButtonLoop()) const;
|
||||
|
||||
/**
|
||||
* Constructs an event instance around the stadia button's digital signal.
|
||||
*
|
||||
* @param loop the event loop instance to attach the event to. Defaults to the
|
||||
* CommandScheduler's default loop.
|
||||
* @return an event instance representing the stadia button's digital signal
|
||||
* attached to the given loop.
|
||||
*/
|
||||
Trigger Stadia(frc::EventLoop* loop = CommandScheduler::GetInstance()
|
||||
.GetDefaultButtonLoop()) const;
|
||||
|
||||
/**
|
||||
* Constructs an event instance around the google button's digital signal.
|
||||
*
|
||||
* @param loop the event loop instance to attach the event to. Defaults to the
|
||||
* CommandScheduler's default loop.
|
||||
* @return an event instance representing the google button's digital signal
|
||||
* attached to the given loop.
|
||||
*/
|
||||
Trigger Google(frc::EventLoop* loop = CommandScheduler::GetInstance()
|
||||
.GetDefaultButtonLoop()) const;
|
||||
|
||||
/**
|
||||
* Constructs an event instance around the frame button's digital signal.
|
||||
*
|
||||
* @param loop the event loop instance to attach the event to. Defaults to the
|
||||
* CommandScheduler's default loop.
|
||||
* @return an event instance representing the frame button's digital signal
|
||||
* attached to the given loop.
|
||||
*/
|
||||
Trigger Frame(frc::EventLoop* loop = CommandScheduler::GetInstance()
|
||||
.GetDefaultButtonLoop()) const;
|
||||
|
||||
/**
|
||||
* Constructs an event instance around the left trigger's digital signal.
|
||||
*
|
||||
* @param loop the event loop instance to attach the event to. Defaults to the
|
||||
* CommandScheduler's default loop.
|
||||
* @return an event instance representing the left trigger's digital signal
|
||||
* attached to the given loop.
|
||||
*/
|
||||
Trigger LeftTrigger(frc::EventLoop* loop = CommandScheduler::GetInstance()
|
||||
.GetDefaultButtonLoop()) const;
|
||||
|
||||
/**
|
||||
* Constructs an event instance around the right trigger's digital signal.
|
||||
*
|
||||
* @param loop the event loop instance to attach the event to. Defaults to the
|
||||
* CommandScheduler's default loop.
|
||||
* @return an event instance representing the right trigger's digital signal
|
||||
* attached to the given loop.
|
||||
*/
|
||||
Trigger RightTrigger(
|
||||
frc::EventLoop* loop =
|
||||
CommandScheduler::GetInstance().GetDefaultButtonLoop()) const;
|
||||
|
||||
/**
|
||||
* Get the X axis value of left side of the controller.
|
||||
*
|
||||
* @return the axis value
|
||||
*/
|
||||
double GetLeftX() const;
|
||||
|
||||
/**
|
||||
* Get the X axis value of right side of the controller.
|
||||
*
|
||||
* @return the axis value
|
||||
*/
|
||||
double GetRightX() const;
|
||||
|
||||
/**
|
||||
* Get the Y axis value of left side of the controller.
|
||||
*
|
||||
* @return the axis value
|
||||
*/
|
||||
double GetLeftY() const;
|
||||
|
||||
/**
|
||||
* Get the Y axis value of right side of the controller.
|
||||
*
|
||||
* @return the axis value
|
||||
*/
|
||||
double GetRightY() const;
|
||||
|
||||
private:
|
||||
frc::StadiaController m_hid;
|
||||
};
|
||||
} // namespace frc2
|
||||
@@ -1,228 +0,0 @@
|
||||
// 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/XboxController.h>
|
||||
|
||||
#include "Trigger.h"
|
||||
#include "frc2/command/CommandScheduler.h"
|
||||
#include "frc2/command/button/CommandGenericHID.h"
|
||||
|
||||
namespace frc2 {
|
||||
/**
|
||||
* A version of {@link frc::XboxController} with {@link Trigger} factories for
|
||||
* command-based.
|
||||
*
|
||||
* @see frc::XboxController
|
||||
*/
|
||||
class CommandXboxController : 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 CommandXboxController(int port);
|
||||
|
||||
/**
|
||||
* Get the underlying GenericHID object.
|
||||
*
|
||||
* @return the wrapped GenericHID object
|
||||
*/
|
||||
frc::XboxController& GetHID();
|
||||
|
||||
/**
|
||||
* Constructs an event instance around the left bumper's digital signal.
|
||||
*
|
||||
* @param loop the event loop instance to attach the event to. Defaults to the
|
||||
* CommandScheduler's default loop.
|
||||
* @return an event instance representing the left bumper's digital signal
|
||||
* attached to the given loop.
|
||||
*/
|
||||
Trigger LeftBumper(frc::EventLoop* loop = CommandScheduler::GetInstance()
|
||||
.GetDefaultButtonLoop()) const;
|
||||
|
||||
/**
|
||||
* Constructs an event instance around the right bumper's digital signal.
|
||||
*
|
||||
* @param loop the event loop instance to attach the event to. Defaults to the
|
||||
* CommandScheduler's default loop.
|
||||
* @return an event instance representing the right bumper's digital signal
|
||||
* attached to the given loop.
|
||||
*/
|
||||
Trigger RightBumper(frc::EventLoop* loop = CommandScheduler::GetInstance()
|
||||
.GetDefaultButtonLoop()) const;
|
||||
|
||||
/**
|
||||
* Constructs an event instance around the left stick's digital signal.
|
||||
*
|
||||
* @param loop the event loop instance to attach the event to. Defaults to the
|
||||
* CommandScheduler's default loop.
|
||||
* @return an event instance representing the left stick's digital signal
|
||||
* attached to the given loop.
|
||||
*/
|
||||
Trigger LeftStick(frc::EventLoop* loop = CommandScheduler::GetInstance()
|
||||
.GetDefaultButtonLoop()) const;
|
||||
|
||||
/**
|
||||
* Constructs an event instance around the right stick's digital signal.
|
||||
*
|
||||
* @param loop the event loop instance to attach the event to. Defaults to the
|
||||
* CommandScheduler's default loop.
|
||||
* @return an event instance representing the right stick's digital signal
|
||||
* attached to the given loop.
|
||||
*/
|
||||
Trigger RightStick(frc::EventLoop* loop = CommandScheduler::GetInstance()
|
||||
.GetDefaultButtonLoop()) const;
|
||||
|
||||
/**
|
||||
* Constructs an event instance around the A button's digital signal.
|
||||
*
|
||||
* @param loop the event loop instance to attach the event to. Defaults to the
|
||||
* CommandScheduler's default loop.
|
||||
* @return an event instance representing the A button's digital signal
|
||||
* attached to the given loop.
|
||||
*/
|
||||
Trigger A(frc::EventLoop* loop =
|
||||
CommandScheduler::GetInstance().GetDefaultButtonLoop()) const;
|
||||
|
||||
/**
|
||||
* Constructs an event instance around the B button's digital signal.
|
||||
*
|
||||
* @param loop the event loop instance to attach the event to. Defaults to the
|
||||
* CommandScheduler's default loop.
|
||||
* @return an event instance representing the B button's digital signal
|
||||
* attached to the given loop.
|
||||
*/
|
||||
Trigger B(frc::EventLoop* loop =
|
||||
CommandScheduler::GetInstance().GetDefaultButtonLoop()) const;
|
||||
|
||||
/**
|
||||
* Constructs an event instance around the X button's digital signal.
|
||||
*
|
||||
* @param loop the event loop instance to attach the event to. Defaults to the
|
||||
* CommandScheduler's default loop.
|
||||
* @return an event instance representing the X button's digital signal
|
||||
* attached to the given loop.
|
||||
*/
|
||||
Trigger X(frc::EventLoop* loop =
|
||||
CommandScheduler::GetInstance().GetDefaultButtonLoop()) const;
|
||||
|
||||
/**
|
||||
* Constructs an event instance around the Y button's digital signal.
|
||||
*
|
||||
* @param loop the event loop instance to attach the event to. Defaults to the
|
||||
* CommandScheduler's default loop.
|
||||
* @return an event instance representing the Y button's digital signal
|
||||
* attached to the given loop.
|
||||
*/
|
||||
Trigger Y(frc::EventLoop* loop =
|
||||
CommandScheduler::GetInstance().GetDefaultButtonLoop()) const;
|
||||
|
||||
/**
|
||||
* Constructs an event 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 an event instance representing the back button's digital signal
|
||||
* attached to the given loop.
|
||||
*/
|
||||
Trigger Back(frc::EventLoop* loop = CommandScheduler::GetInstance()
|
||||
.GetDefaultButtonLoop()) const;
|
||||
|
||||
/**
|
||||
* Constructs an event 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 an event 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 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 right trigger (RT) 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();
|
||||
|
||||
/**
|
||||
* Get the left trigger (LT) 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();
|
||||
|
||||
/**
|
||||
* Get the Y axis value of right side of the controller.
|
||||
*
|
||||
* @return The axis value.
|
||||
*/
|
||||
double GetRightY();
|
||||
|
||||
/**
|
||||
* Get the Y axis value of left side of the controller.
|
||||
*
|
||||
* @return The axis value.
|
||||
*/
|
||||
double GetLeftY();
|
||||
|
||||
/**
|
||||
* Get the X axis value of right side of the controller.
|
||||
*
|
||||
* @return The axis value.
|
||||
*/
|
||||
double GetRightX();
|
||||
|
||||
/**
|
||||
* Get the X axis value of left side of the controller.
|
||||
*
|
||||
* @return The axis value.
|
||||
*/
|
||||
double GetLeftX();
|
||||
|
||||
private:
|
||||
frc::XboxController m_hid;
|
||||
};
|
||||
} // namespace frc2
|
||||
Reference in New Issue
Block a user