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[commands] Add deadband trigger methods to CommandGenericHID (#7085)

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Co-authored-by: Joseph Eng <91924258+KangarooKoala@users.noreply.github.com>
This commit is contained in:
Nicholas Armstrong
2024-10-11 01:03:01 -04:00
committed by GitHub
parent f150b36108
commit 968bdf0d06
3 changed files with 55 additions and 0 deletions
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33
wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/button/CommandGenericHID.java
View File

@@ -23,6 +23,8 @@ public class CommandGenericHID {
new HashMap<>();
private final Map<EventLoop, Map<Pair<Integer, Double>, Trigger>> m_axisGreaterThanCache =
new HashMap<>();
private final Map<EventLoop, Map<Pair<Integer, Double>, Trigger>>
m_axisMagnitudeGreaterThanCache = new HashMap<>();
private final Map<EventLoop, Map<Integer, Trigger>> m_povCache = new HashMap<>();
/**
@@ -260,6 +262,37 @@ public class CommandGenericHID {
Pair.of(axis, threshold), k -> new Trigger(loop, () -> getRawAxis(axis) > threshold));
}
/**
* Constructs a Trigger instance that is true when the axis magnitude value is greater than {@code
* threshold}, attached to the given loop.
*
* @param axis The axis to read, starting at 0
* @param threshold The value above which this trigger should return true.
* @param loop the event loop instance to attach the trigger to.
* @return a Trigger instance that is true when the axis magnitude value is greater than the
* provided threshold.
*/
public Trigger axisMagnitudeGreaterThan(int axis, double threshold, EventLoop loop) {
var cache = m_axisMagnitudeGreaterThanCache.computeIfAbsent(loop, k -> new HashMap<>());
return cache.computeIfAbsent(
Pair.of(axis, threshold),
k -> new Trigger(loop, () -> Math.abs(getRawAxis(axis)) > threshold));
}
/**
* Constructs a Trigger instance that is true when the axis magnitude value is greater than {@code
* threshold}, attached to {@link CommandScheduler#getDefaultButtonLoop() the default command
* scheduler button loop}.
*
* @param axis The axis to read, starting at 0
* @param threshold The value above which this trigger should return true.
* @return a Trigger instance that is true when the deadbanded axis value is active (non-zero).
*/
public Trigger axisMagnitudeGreaterThan(int axis, double threshold) {
return axisMagnitudeGreaterThan(
axis, threshold, CommandScheduler.getInstance().getDefaultButtonLoop());
}
/**
* Get the value of the axis.
*

7
wpilibNewCommands/src/main/native/cpp/frc2/command/button/CommandGenericHID.cpp
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@@ -75,6 +75,13 @@ Trigger CommandGenericHID::AxisGreaterThan(int axis, double threshold,
});
}
Trigger CommandGenericHID::AxisMagnitudeGreaterThan(
int axis, double threshold, frc::EventLoop* loop) const {
return Trigger(loop, [this, axis, threshold]() {
return std::abs(m_hid.GetRawAxis(axis)) > threshold;
});
}
void CommandGenericHID::SetRumble(frc::GenericHID::RumbleType type,
double value) {
m_hid.SetRumble(type, value);

15
wpilibNewCommands/src/main/native/include/frc2/command/button/CommandGenericHID.h
View File

@@ -230,6 +230,21 @@ class CommandGenericHID {
frc::EventLoop* loop =
CommandScheduler::GetInstance().GetDefaultButtonLoop()) const;
/**
* Constructs a Trigger instance that is true when the axis magnitude value is
* greater than {@code threshold}, attached to the given loop.
*
* @param axis The axis to read, starting at 0
* @param threshold The value above which this trigger should return true.
* @param loop the event loop instance to attach the trigger to.
* @return a Trigger instance that is true when the axis magnitude value is
* greater than the provided threshold.
*/
Trigger AxisMagnitudeGreaterThan(
int axis, double threshold,
frc::EventLoop* loop =
CommandScheduler::GetInstance().GetDefaultButtonLoop()) const;
/**
* Set the rumble output for the HID.
*