[wpilib] Add StadiaController and command wrapper (#6083)

wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/button/CommandStadiaController.java

@@ -0,0 +1,405 @@
+// 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.
+
+package edu.wpi.first.wpilibj2.command.button;
+
+import edu.wpi.first.wpilibj.StadiaController;
+import edu.wpi.first.wpilibj.event.EventLoop;
+import edu.wpi.first.wpilibj2.command.CommandScheduler;
+
+/**
+ * A version of {@link StadiaController} with {@link Trigger} factories for command-based.
+ *
+ * @see StadiaController
+ */
+@SuppressWarnings("MethodName")
+public class CommandStadiaController extends CommandGenericHID {
+  private final StadiaController m_hid;
+
+  /**
+   * Construct an instance of a controller.
+   *
+   * @param port The port index on the Driver Station that the controller is plugged into.
+   */
+  public CommandStadiaController(int port) {
+    super(port);
+    m_hid = new StadiaController(port);
+  }
+
+  /**
+   * Get the underlying GenericHID object.
+   *
+   * @return the wrapped GenericHID object
+   */
+  @Override
+  public StadiaController getHID() {
+    return m_hid;
+  }
+
+  /**
+   * Constructs an event instance around the left bumper's digital signal.
+   *
+   * @return an event instance representing the left bumper's digital signal attached to the {@link
+   *     CommandScheduler#getDefaultButtonLoop() default scheduler button loop}.
+   * @see #leftBumper(EventLoop)
+   */
+  public Trigger leftBumper() {
+    return leftBumper(CommandScheduler.getInstance().getDefaultButtonLoop());
+  }
+
+  /**
+   * Constructs an event instance around the left bumper's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance representing the right bumper's digital signal attached to the given
+   *     loop.
+   */
+  public Trigger leftBumper(EventLoop loop) {
+    return m_hid.leftBumper(loop).castTo(Trigger::new);
+  }
+
+  /**
+   * Constructs an event instance around the right bumper's digital signal.
+   *
+   * @return an event instance representing the right bumper's digital signal attached to the {@link
+   *     CommandScheduler#getDefaultButtonLoop() default scheduler button loop}.
+   * @see #rightBumper(EventLoop)
+   */
+  public Trigger rightBumper() {
+    return rightBumper(CommandScheduler.getInstance().getDefaultButtonLoop());
+  }
+
+  /**
+   * Constructs an event instance around the right bumper's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance representing the left bumper's digital signal attached to the given
+   *     loop.
+   */
+  public Trigger rightBumper(EventLoop loop) {
+    return m_hid.rightBumper(loop).castTo(Trigger::new);
+  }
+
+  /**
+   * Constructs an event instance around the left stick button's digital signal.
+   *
+   * @return an event instance representing the left stick button's digital signal attached to the
+   *     {@link CommandScheduler#getDefaultButtonLoop() default scheduler button loop}.
+   * @see #leftStick(EventLoop)
+   */
+  public Trigger leftStick() {
+    return leftStick(CommandScheduler.getInstance().getDefaultButtonLoop());
+  }
+
+  /**
+   * Constructs an event instance around the left stick button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance representing the left stick button's digital signal attached to the
+   *     given loop.
+   */
+  public Trigger leftStick(EventLoop loop) {
+    return m_hid.leftStick(loop).castTo(Trigger::new);
+  }
+
+  /**
+   * Constructs an event instance around the right stick button's digital signal.
+   *
+   * @return an event instance representing the right stick button's digital signal attached to the
+   *     {@link CommandScheduler#getDefaultButtonLoop() default scheduler button loop}.
+   * @see #rightStick(EventLoop)
+   */
+  public Trigger rightStick() {
+    return rightStick(CommandScheduler.getInstance().getDefaultButtonLoop());
+  }
+
+  /**
+   * Constructs an event instance around the right stick button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance representing the right stick button's digital signal attached to the
+   *     given loop.
+   */
+  public Trigger rightStick(EventLoop loop) {
+    return m_hid.rightStick(loop).castTo(Trigger::new);
+  }
+
+  /**
+   * Constructs an event instance around the right trigger button's digital signal.
+   *
+   * @return an event instance representing the right trigger button's digital signal attached to
+   *     the {@link CommandScheduler#getDefaultButtonLoop() default scheduler button loop}.
+   * @see #rightTrigger(EventLoop)
+   */
+  public Trigger rightTrigger() {
+    return rightTrigger(CommandScheduler.getInstance().getDefaultButtonLoop());
+  }
+
+  /**
+   * Constructs an event instance around the right trigger button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance representing the right trigger button's digital signal attached to
+   *     the given loop.
+   */
+  public Trigger rightTrigger(EventLoop loop) {
+    return m_hid.rightTrigger(loop).castTo(Trigger::new);
+  }
+
+  /**
+   * Constructs an event instance around the left trigger button's digital signal.
+   *
+   * @return an event instance representing the left trigger button's digital signal attached to the
+   *     {@link CommandScheduler#getDefaultButtonLoop() default scheduler button loop}.
+   * @see #leftTrigger(EventLoop)
+   */
+  public Trigger leftTrigger() {
+    return leftTrigger(CommandScheduler.getInstance().getDefaultButtonLoop());
+  }
+
+  /**
+   * Constructs an event instance around the left trigger button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance representing the left trigger button's digital signal attached to the
+   *     given loop.
+   */
+  public Trigger leftTrigger(EventLoop loop) {
+    return m_hid.leftTrigger(loop).castTo(Trigger::new);
+  }
+
+  /**
+   * Constructs an event instance around the A button's digital signal.
+   *
+   * @return an event instance representing the A button's digital signal attached to the {@link
+   *     CommandScheduler#getDefaultButtonLoop() default scheduler button loop}.
+   * @see #a(EventLoop)
+   */
+  public Trigger a() {
+    return a(CommandScheduler.getInstance().getDefaultButtonLoop());
+  }
+
+  /**
+   * Constructs an event instance around the A button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance representing the A button's digital signal attached to the given
+   *     loop.
+   */
+  public Trigger a(EventLoop loop) {
+    return m_hid.a(loop).castTo(Trigger::new);
+  }
+
+  /**
+   * Constructs an event instance around the B button's digital signal.
+   *
+   * @return an event instance representing the B button's digital signal attached to the {@link
+   *     CommandScheduler#getDefaultButtonLoop() default scheduler button loop}.
+   * @see #b(EventLoop)
+   */
+  public Trigger b() {
+    return b(CommandScheduler.getInstance().getDefaultButtonLoop());
+  }
+
+  /**
+   * Constructs an event instance around the B button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance representing the B button's digital signal attached to the given
+   *     loop.
+   */
+  public Trigger b(EventLoop loop) {
+    return m_hid.b(loop).castTo(Trigger::new);
+  }
+
+  /**
+   * Constructs an event instance around the X button's digital signal.
+   *
+   * @return an event instance representing the X button's digital signal attached to the {@link
+   *     CommandScheduler#getDefaultButtonLoop() default scheduler button loop}.
+   * @see #x(EventLoop)
+   */
+  public Trigger x() {
+    return x(CommandScheduler.getInstance().getDefaultButtonLoop());
+  }
+
+  /**
+   * Constructs an event instance around the X button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance representing the X button's digital signal attached to the given
+   *     loop.
+   */
+  public Trigger x(EventLoop loop) {
+    return m_hid.x(loop).castTo(Trigger::new);
+  }
+
+  /**
+   * Constructs an event instance around the Y button's digital signal.
+   *
+   * @return an event instance representing the Y button's digital signal attached to the {@link
+   *     CommandScheduler#getDefaultButtonLoop() default scheduler button loop}.
+   * @see #y(EventLoop)
+   */
+  public Trigger y() {
+    return y(CommandScheduler.getInstance().getDefaultButtonLoop());
+  }
+
+  /**
+   * Constructs an event instance around the Y button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance representing the Y button's digital signal attached to the given
+   *     loop.
+   */
+  public Trigger y(EventLoop loop) {
+    return m_hid.y(loop).castTo(Trigger::new);
+  }
+
+  /**
+   * Constructs an event instance around the ellipses button's digital signal.
+   *
+   * @return an event instance representing the ellipses button's digital signal attached to the
+   *     {@link CommandScheduler#getDefaultButtonLoop() default scheduler button loop}.
+   * @see #ellipses(EventLoop)
+   */
+  public Trigger ellipses() {
+    return ellipses(CommandScheduler.getInstance().getDefaultButtonLoop());
+  }
+
+  /**
+   * Constructs an event instance around the ellipses button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance representing the ellipses button's digital signal attached to the
+   *     given loop.
+   */
+  public Trigger ellipses(EventLoop loop) {
+    return m_hid.ellipses(loop).castTo(Trigger::new);
+  }
+
+  /**
+   * Constructs an event instance around the stadia button's digital signal.
+   *
+   * @return an event instance representing the stadia button's digital signal attached to the
+   *     {@link CommandScheduler#getDefaultButtonLoop() default scheduler button loop}.
+   * @see #stadia(EventLoop)
+   */
+  public Trigger stadia() {
+    return stadia(CommandScheduler.getInstance().getDefaultButtonLoop());
+  }
+
+  /**
+   * Constructs an event instance around the stadia button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance representing the stadia button's digital signal attached to the given
+   *     loop.
+   */
+  public Trigger stadia(EventLoop loop) {
+    return m_hid.stadia(loop).castTo(Trigger::new);
+  }
+
+  /**
+   * Constructs an event instance around the google button's digital signal.
+   *
+   * @return an event instance representing the google button's digital signal attached to the
+   *     {@link CommandScheduler#getDefaultButtonLoop() default scheduler button loop}.
+   * @see #google(EventLoop)
+   */
+  public Trigger google() {
+    return google(CommandScheduler.getInstance().getDefaultButtonLoop());
+  }
+
+  /**
+   * Constructs an event instance around the google button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance representing the google button's digital signal attached to the given
+   *     loop.
+   */
+  public Trigger google(EventLoop loop) {
+    return m_hid.google(loop).castTo(Trigger::new);
+  }
+
+  /**
+   * Constructs an event instance around the frame button's digital signal.
+   *
+   * @return an event instance representing the frame button's digital signal attached to the {@link
+   *     CommandScheduler#getDefaultButtonLoop() default scheduler button loop}.
+   * @see #frame(EventLoop)
+   */
+  public Trigger frame() {
+    return frame(CommandScheduler.getInstance().getDefaultButtonLoop());
+  }
+
+  /**
+   * Constructs an event instance around the frame button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance representing the frame button's digital signal attached to the given
+   *     loop.
+   */
+  public Trigger frame(EventLoop loop) {
+    return m_hid.frame(loop).castTo(Trigger::new);
+  }
+
+  /**
+   * Constructs an event instance around the hamburger button's digital signal.
+   *
+   * @return an event instance representing the hamburger button's digital signal attached to the
+   *     {@link CommandScheduler#getDefaultButtonLoop() default scheduler button loop}.
+   * @see #hamburger(EventLoop)
+   */
+  public Trigger hamburger() {
+    return hamburger(CommandScheduler.getInstance().getDefaultButtonLoop());
+  }
+
+  /**
+   * Constructs an event instance around the hamburger button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance representing the hamburger button's digital signal attached to the
+   *     given loop.
+   */
+  public Trigger hamburger(EventLoop loop) {
+    return m_hid.hamburger(loop).castTo(Trigger::new);
+  }
+
+  /**
+   * Get the X axis value of left side of the controller.
+   *
+   * @return The axis value.
+   */
+  public double getLeftX() {
+    return m_hid.getLeftX();
+  }
+
+  /**
+   * Get the X axis value of right side of the controller.
+   *
+   * @return The axis value.
+   */
+  public double getRightX() {
+    return m_hid.getRightX();
+  }
+
+  /**
+   * Get the Y axis value of left side of the controller.
+   *
+   * @return The axis value.
+   */
+  public double getLeftY() {
+    return m_hid.getLeftY();
+  }
+
+  /**
+   * Get the Y axis value of right side of the controller.
+   *
+   * @return The axis value.
+   */
+  public double getRightY() {
+    return m_hid.getRightY();
+  }
+}