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[commands] GenericHIDController: use composition in C++ (#6296)

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This commit is contained in:
Jade
2024-05-25 07:36:05 +08:00
committed by GitHub
parent 221d568bd9
commit f1e072fc98
12 changed files with 469 additions and 129 deletions
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74
wpilibNewCommands/src/main/native/include/frc2/command/button/CommandXboxController.h
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@@ -7,30 +7,31 @@
#include "Trigger.h"
#include "frc2/command/CommandScheduler.h"
#include "frc2/command/button/CommandGenericHID.h"
namespace frc2 {
/**
* A version of {@link XboxController} with {@link Trigger} factories for
* A version of {@link frc::XboxController} with {@link Trigger} factories for
* command-based.
*
* @see XboxController
* @see frc::XboxController
*/
class CommandXboxController : public frc::XboxController {
class CommandXboxController : CommandGenericHID {
public:
using XboxController::XboxController;
/**
* 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);
/**
* Constructs an event instance around this button's digital signal.
* Get the underlying GenericHID object.
*
* @param button the button index
* @param loop the event loop instance to attach the event to. Defaults to the
* CommandScheduler's default loop.
* @return an event instance representing the button's digital signal attached
* to the given loop.
* @return the wrapped GenericHID object
*/
Trigger Button(int button,
frc::EventLoop* loop = CommandScheduler::GetInstance()
.GetDefaultButtonLoop()) const;
frc::XboxController& GetHID();
/**
* Constructs an event instance around the left bumper's digital signal.
@@ -176,5 +177,52 @@ class CommandXboxController : public frc::XboxController {
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