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[wpilib] Add StadiaController and command wrapper (#6083)
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NC GEARS FRC 1918
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// Copyright (c) FIRST and other WPILib contributors.
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// Open Source Software; you can modify and/or share it under the terms of
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// the WPILib BSD license file in the root directory of this project.
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package edu.wpi.first.wpilibj;
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// import edu.wpi.first.hal.FRCNetComm.tResourceType;
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// import edu.wpi.first.hal.HAL;
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import edu.wpi.first.wpilibj.event.BooleanEvent;
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import edu.wpi.first.wpilibj.event.EventLoop;
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/**
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* Handle input from Stadia controllers connected to the Driver Station.
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*
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* <p>This class handles Stadia input that comes from the Driver Station. Each time a value is
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* requested the most recent value is returned. There is a single class instance for each controller
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* and the mapping of ports to hardware buttons depends on the code in the Driver Station.
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*/
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public class StadiaController extends GenericHID {
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/** Represents a digital button on a StadiaController. */
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public enum Button {
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kA(1),
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kB(2),
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kX(3),
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kY(4),
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kLeftBumper(5),
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kRightBumper(6),
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kLeftStick(7),
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kRightStick(8),
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kEllipses(9),
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kHamburger(10),
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kStadia(11),
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kRightTrigger(12),
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kLeftTrigger(13),
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kGoogle(14),
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kFrame(15);
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public final int value;
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Button(int value) {
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this.value = value;
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}
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/**
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* Get the human-friendly name of the button, matching the relevant methods. This is done by
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* stripping the leading `k`, and if not a Bumper button append `Button`.
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*
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* <p>Primarily used for automated unit tests.
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*
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* @return the human-friendly name of the button.
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*/
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@Override
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public String toString() {
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var name = this.name().substring(1); // Remove leading `k`
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if (name.endsWith("Bumper")) {
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return name;
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}
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return name + "Button";
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}
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}
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/** Represents an axis on a StadiaController. */
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public enum Axis {
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kLeftX(0),
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kRightX(3),
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kLeftY(1),
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kRightY(4);
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public final int value;
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Axis(int value) {
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this.value = value;
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}
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/**
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* Get the human-friendly name of the axis, matching the relevant methods. This is done by
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* stripping the leading `k`, and if a trigger axis append `Axis`.
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*
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* <p>Primarily used for automated unit tests.
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*
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* @return the human-friendly name of the axis.
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*/
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@Override
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public String toString() {
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var name = this.name().substring(1); // Remove leading `k`
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if (name.endsWith("Trigger")) {
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return name + "Axis";
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}
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return name;
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}
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}
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/**
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* Construct an instance of a controller.
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*
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* @param port The port index on the Driver Station that the controller is plugged into.
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*/
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public StadiaController(final int port) {
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super(port);
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// re-enable when StadiaController is added to Usage Reporting
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// HAL.report(tResourceType.kResourceType_Joystick, port + 1);
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}
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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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public double getLeftX() {
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return getRawAxis(Axis.kLeftX.value);
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}
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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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public double getRightX() {
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return getRawAxis(Axis.kRightX.value);
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}
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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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public double getLeftY() {
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return getRawAxis(Axis.kLeftY.value);
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}
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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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public double getRightY() {
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return getRawAxis(Axis.kRightY.value);
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}
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/**
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* Read the value of the left bumper (LB) button on the controller.
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*
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* @return The state of the button.
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*/
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public boolean getLeftBumper() {
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return getRawButton(Button.kLeftBumper.value);
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}
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/**
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* Read the value of the right bumper (RB) button on the controller.
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*
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* @return The state of the button.
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*/
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public boolean getRightBumper() {
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return getRawButton(Button.kRightBumper.value);
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}
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/**
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* Whether the left bumper (LB) was pressed since the last check.
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*
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* @return Whether the button was pressed since the last check.
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*/
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public boolean getLeftBumperPressed() {
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return getRawButtonPressed(Button.kLeftBumper.value);
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}
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/**
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* Whether the right bumper (RB) was pressed since the last check.
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*
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* @return Whether the button was pressed since the last check.
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*/
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public boolean getRightBumperPressed() {
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return getRawButtonPressed(Button.kRightBumper.value);
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}
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/**
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* Whether the left bumper (LB) was released since the last check.
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*
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* @return Whether the button was released since the last check.
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*/
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public boolean getLeftBumperReleased() {
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return getRawButtonReleased(Button.kLeftBumper.value);
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}
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/**
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* Whether the right bumper (RB) was released since the last check.
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*
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* @return Whether the button was released since the last check.
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*/
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public boolean getRightBumperReleased() {
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return getRawButtonReleased(Button.kRightBumper.value);
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}
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/**
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* Constructs an event instance around the right bumper's digital signal.
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*
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* @param loop the event loop instance to attach the event to.
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* @return an event instance representing the right bumper's digital signal attached to the given
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* loop.
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*/
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public BooleanEvent leftBumper(EventLoop loop) {
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return new BooleanEvent(loop, this::getLeftBumper);
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}
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/**
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* Constructs an event instance around the left bumper's digital signal.
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*
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* @param loop the event loop instance to attach the event to.
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* @return an event instance representing the left bumper's digital signal attached to the given
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* loop.
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*/
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public BooleanEvent rightBumper(EventLoop loop) {
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return new BooleanEvent(loop, this::getRightBumper);
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}
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/**
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* Read the value of the left stick button (LSB) on the controller.
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*
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* @return The state of the button.
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*/
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public boolean getLeftStickButton() {
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return getRawButton(Button.kLeftStick.value);
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}
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/**
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* Read the value of the right stick button (RSB) on the controller.
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*
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* @return The state of the button.
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*/
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public boolean getRightStickButton() {
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return getRawButton(Button.kRightStick.value);
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}
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/**
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* Whether the left stick button (LSB) was pressed since the last check.
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*
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* @return Whether the button was pressed since the last check.
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*/
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public boolean getLeftStickButtonPressed() {
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return getRawButtonPressed(Button.kLeftStick.value);
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}
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/**
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* Whether the right stick button (RSB) was pressed since the last check.
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*
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* @return Whether the button was pressed since the last check.
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*/
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public boolean getRightStickButtonPressed() {
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return getRawButtonPressed(Button.kRightStick.value);
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}
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/**
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* Whether the left stick button (LSB) was released since the last check.
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*
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* @return Whether the button was released since the last check.
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*/
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public boolean getLeftStickButtonReleased() {
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return getRawButtonReleased(Button.kLeftStick.value);
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}
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/**
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* Whether the right stick (RSB) button was released since the last check.
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*
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* @return Whether the button was released since the last check.
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*/
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public boolean getRightStickButtonReleased() {
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return getRawButtonReleased(Button.kRightStick.value);
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}
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/**
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* Constructs an event instance around the left stick button's digital signal.
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*
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* @param loop the event loop instance to attach the event to.
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* @return an event instance representing the left stick button's digital signal attached to the
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* given loop.
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*/
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public BooleanEvent leftStick(EventLoop loop) {
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return new BooleanEvent(loop, this::getLeftStickButton);
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}
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/**
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* Constructs an event instance around the right stick button's digital signal.
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*
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* @param loop the event loop instance to attach the event to.
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* @return an event instance representing the right stick button's digital signal attached to the
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* given loop.
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*/
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public BooleanEvent rightStick(EventLoop loop) {
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return new BooleanEvent(loop, this::getRightStickButton);
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}
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/**
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* Read the value of the left trigger button (LTB) on the controller.
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*
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* @return The state of the button.
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*/
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public boolean getLeftTriggerButton() {
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return getRawButton(Button.kLeftTrigger.value);
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}
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/**
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* Read the value of the right trigger button (RTB) on the controller.
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*
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* @return The state of the button.
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*/
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public boolean getRightTriggerButton() {
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return getRawButton(Button.kRightTrigger.value);
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}
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/**
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* Whether the left trigger button (LTB) was pressed since the last check.
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*
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* @return Whether the button was pressed since the last check.
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*/
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public boolean getLeftTriggerButtonPressed() {
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return getRawButtonPressed(Button.kLeftTrigger.value);
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}
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/**
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* Whether the right trigger button (RTB) was pressed since the last check.
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*
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* @return Whether the button was pressed since the last check.
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*/
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public boolean getRightTriggerButtonPressed() {
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return getRawButtonPressed(Button.kRightTrigger.value);
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}
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/**
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* Whether the left trigger button (LTB) was released since the last check.
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*
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* @return Whether the button was released since the last check.
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*/
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public boolean getLeftTriggerButtonReleased() {
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return getRawButtonReleased(Button.kLeftTrigger.value);
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}
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/**
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* Whether the right trigger (RTB) button was released since the last check.
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*
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* @return Whether the button was released since the last check.
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*/
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public boolean getRightTriggerButtonReleased() {
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return getRawButtonReleased(Button.kRightTrigger.value);
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}
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/**
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* Constructs an event instance around the left trigger button's digital signal.
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*
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* @param loop the event loop instance to attach the event to.
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* @return an event instance representing the left trigger button's digital signal attached to the
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* given loop.
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*/
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public BooleanEvent leftTrigger(EventLoop loop) {
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return new BooleanEvent(loop, this::getLeftTriggerButton);
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}
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/**
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* Constructs an event instance around the right trigger button's digital signal.
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*
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* @param loop the event loop instance to attach the event to.
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* @return an event instance representing the right trigger button's digital signal attached to
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* the given loop.
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*/
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public BooleanEvent rightTrigger(EventLoop loop) {
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return new BooleanEvent(loop, this::getRightTriggerButton);
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}
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/**
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* Read the value of the A button on the controller.
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*
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* @return The state of the button.
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*/
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public boolean getAButton() {
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return getRawButton(Button.kA.value);
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}
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/**
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* Whether the A button was pressed since the last check.
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*
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* @return Whether the button was pressed since the last check.
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*/
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public boolean getAButtonPressed() {
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return getRawButtonPressed(Button.kA.value);
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}
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/**
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* Whether the A button was released since the last check.
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*
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* @return Whether the button was released since the last check.
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*/
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public boolean getAButtonReleased() {
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return getRawButtonReleased(Button.kA.value);
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}
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/**
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* Constructs an event instance around the A button's digital signal.
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*
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* @param loop the event loop instance to attach the event to.
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* @return an event instance representing the A button's digital signal attached to the given
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* loop.
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*/
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@SuppressWarnings("MethodName")
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public BooleanEvent a(EventLoop loop) {
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return new BooleanEvent(loop, this::getAButton);
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}
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/**
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* Read the value of the B button on the controller.
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*
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* @return The state of the button.
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*/
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public boolean getBButton() {
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return getRawButton(Button.kB.value);
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}
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/**
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* Whether the B button was pressed since the last check.
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*
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* @return Whether the button was pressed since the last check.
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*/
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public boolean getBButtonPressed() {
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return getRawButtonPressed(Button.kB.value);
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}
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/**
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* Whether the B button was released since the last check.
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*
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* @return Whether the button was released since the last check.
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*/
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public boolean getBButtonReleased() {
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return getRawButtonReleased(Button.kB.value);
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}
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/**
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* Constructs an event instance around the B button's digital signal.
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*
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* @param loop the event loop instance to attach the event to.
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* @return an event instance representing the B button's digital signal attached to the given
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* loop.
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*/
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@SuppressWarnings("MethodName")
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public BooleanEvent b(EventLoop loop) {
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return new BooleanEvent(loop, this::getBButton);
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}
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/**
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* Read the value of the X button on the controller.
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*
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* @return The state of the button.
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*/
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public boolean getXButton() {
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return getRawButton(Button.kX.value);
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}
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/**
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* Whether the X button was pressed since the last check.
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*
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* @return Whether the button was pressed since the last check.
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*/
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public boolean getXButtonPressed() {
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return getRawButtonPressed(Button.kX.value);
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}
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/**
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* Whether the X button was released since the last check.
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*
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* @return Whether the button was released since the last check.
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*/
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public boolean getXButtonReleased() {
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return getRawButtonReleased(Button.kX.value);
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}
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/**
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* Constructs an event instance around the X button's digital signal.
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*
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* @param loop the event loop instance to attach the event to.
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* @return an event instance representing the X button's digital signal attached to the given
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* loop.
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*/
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@SuppressWarnings("MethodName")
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public BooleanEvent x(EventLoop loop) {
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return new BooleanEvent(loop, this::getXButton);
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}
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/**
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* Read the value of the Y button on the controller.
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*
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* @return The state of the button.
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*/
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public boolean getYButton() {
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return getRawButton(Button.kY.value);
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}
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/**
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* Whether the Y button was pressed since the last check.
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*
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* @return Whether the button was pressed since the last check.
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*/
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public boolean getYButtonPressed() {
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return getRawButtonPressed(Button.kY.value);
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}
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/**
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* Whether the Y button was released since the last check.
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*
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* @return Whether the button was released since the last check.
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*/
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public boolean getYButtonReleased() {
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return getRawButtonReleased(Button.kY.value);
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}
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/**
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* Constructs an event instance around the Y button's digital signal.
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*
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* @param loop the event loop instance to attach the event to.
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* @return an event instance representing the Y button's digital signal attached to the given
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* loop.
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*/
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@SuppressWarnings("MethodName")
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public BooleanEvent y(EventLoop loop) {
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return new BooleanEvent(loop, this::getYButton);
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}
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/**
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* Read the value of the ellipses button on the controller.
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*
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* @return The state of the button.
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*/
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public boolean getEllipsesButton() {
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return getRawButton(Button.kEllipses.value);
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}
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/**
|
||||
* Whether the ellipses button was pressed since the last check.
|
||||
*
|
||||
* @return Whether the button was pressed since the last check.
|
||||
*/
|
||||
public boolean getEllipsesButtonPressed() {
|
||||
return getRawButtonPressed(Button.kEllipses.value);
|
||||
}
|
||||
|
||||
/**
|
||||
* Whether the ellipses button was released since the last check.
|
||||
*
|
||||
* @return Whether the button was released since the last check.
|
||||
*/
|
||||
public boolean getEllipsesButtonReleased() {
|
||||
return getRawButtonReleased(Button.kEllipses.value);
|
||||
}
|
||||
|
||||
/**
|
||||
* 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 BooleanEvent ellipses(EventLoop loop) {
|
||||
return new BooleanEvent(loop, this::getEllipsesButton);
|
||||
}
|
||||
|
||||
/**
|
||||
* Read the value of the hamburger button on the controller.
|
||||
*
|
||||
* @return The state of the button.
|
||||
*/
|
||||
public boolean getHamburgerButton() {
|
||||
return getRawButton(Button.kHamburger.value);
|
||||
}
|
||||
|
||||
/**
|
||||
* Whether the hamburger button was pressed since the last check.
|
||||
*
|
||||
* @return Whether the button was pressed since the last check.
|
||||
*/
|
||||
public boolean getHamburgerButtonPressed() {
|
||||
return getRawButtonPressed(Button.kHamburger.value);
|
||||
}
|
||||
|
||||
/**
|
||||
* Whether the hamburger button was released since the last check.
|
||||
*
|
||||
* @return Whether the button was released since the last check.
|
||||
*/
|
||||
public boolean getHamburgerButtonReleased() {
|
||||
return getRawButtonReleased(Button.kHamburger.value);
|
||||
}
|
||||
|
||||
/**
|
||||
* 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 BooleanEvent hamburger(EventLoop loop) {
|
||||
return new BooleanEvent(loop, this::getHamburgerButton);
|
||||
}
|
||||
|
||||
/**
|
||||
* Read the value of the stadia button on the controller.
|
||||
*
|
||||
* @return The state of the button.
|
||||
*/
|
||||
public boolean getStadiaButton() {
|
||||
return getRawButton(Button.kStadia.value);
|
||||
}
|
||||
|
||||
/**
|
||||
* Whether the stadia button was pressed since the last check.
|
||||
*
|
||||
* @return Whether the button was pressed since the last check.
|
||||
*/
|
||||
public boolean getStadiaButtonPressed() {
|
||||
return getRawButtonPressed(Button.kStadia.value);
|
||||
}
|
||||
|
||||
/**
|
||||
* Whether the stadia button was released since the last check.
|
||||
*
|
||||
* @return Whether the button was released since the last check.
|
||||
*/
|
||||
public boolean getStadiaButtonReleased() {
|
||||
return getRawButtonReleased(Button.kStadia.value);
|
||||
}
|
||||
|
||||
/**
|
||||
* 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.
|
||||
*/
|
||||
@SuppressWarnings("MethodName")
|
||||
public BooleanEvent stadia(EventLoop loop) {
|
||||
return new BooleanEvent(loop, this::getStadiaButton);
|
||||
}
|
||||
|
||||
/**
|
||||
* Read the value of the google button on the controller.
|
||||
*
|
||||
* @return The state of the button.
|
||||
*/
|
||||
public boolean getGoogleButton() {
|
||||
return getRawButton(Button.kGoogle.value);
|
||||
}
|
||||
|
||||
/**
|
||||
* Whether the google button was pressed since the last check.
|
||||
*
|
||||
* @return Whether the button was pressed since the last check.
|
||||
*/
|
||||
public boolean getGoogleButtonPressed() {
|
||||
return getRawButtonPressed(Button.kGoogle.value);
|
||||
}
|
||||
|
||||
/**
|
||||
* Whether the google button was released since the last check.
|
||||
*
|
||||
* @return Whether the button was released since the last check.
|
||||
*/
|
||||
public boolean getGoogleButtonReleased() {
|
||||
return getRawButtonReleased(Button.kGoogle.value);
|
||||
}
|
||||
|
||||
/**
|
||||
* 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.
|
||||
*/
|
||||
@SuppressWarnings("MethodName")
|
||||
public BooleanEvent google(EventLoop loop) {
|
||||
return new BooleanEvent(loop, this::getGoogleButton);
|
||||
}
|
||||
|
||||
/**
|
||||
* Read the value of the frame button on the controller.
|
||||
*
|
||||
* @return The state of the button.
|
||||
*/
|
||||
public boolean getFrameButton() {
|
||||
return getRawButton(Button.kFrame.value);
|
||||
}
|
||||
|
||||
/**
|
||||
* Whether the frame button was pressed since the last check.
|
||||
*
|
||||
* @return Whether the button was pressed since the last check.
|
||||
*/
|
||||
public boolean getFrameButtonPressed() {
|
||||
return getRawButtonPressed(Button.kFrame.value);
|
||||
}
|
||||
|
||||
/**
|
||||
* Whether the frame button was released since the last check.
|
||||
*
|
||||
* @return Whether the button was released since the last check.
|
||||
*/
|
||||
public boolean getFrameButtonReleased() {
|
||||
return getRawButtonReleased(Button.kFrame.value);
|
||||
}
|
||||
|
||||
/**
|
||||
* 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.
|
||||
*/
|
||||
@SuppressWarnings("MethodName")
|
||||
public BooleanEvent frame(EventLoop loop) {
|
||||
return new BooleanEvent(loop, this::getFrameButton);
|
||||
}
|
||||
}
|
||||
Reference in New Issue
Block a user