// 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/GenericHID.h" namespace frc { /** * Handle input from PS4 controllers connected to the Driver Station. * *

This class handles PS4 input that comes from the Driver Station. Each time * a value is requested the most recent value is returned. There is a single * class instance for each controller and the mapping of ports to hardware * buttons depends on the code in the Driver Station. */ class PS4Controller : public GenericHID { public: /** * Construct an instance of an PS4 controller. * * The controller index is the USB port on the Driver Station. * * @param port The port on the Driver Station that the controller is plugged * into (0-5). */ explicit PS4Controller(int port); ~PS4Controller() override = default; PS4Controller(PS4Controller&&) = default; PS4Controller& operator=(PS4Controller&&) = default; /** * 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; /** * 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() 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() const; /** * Read the value of the Square button on the controller. * * @return The state of the button. */ bool GetSquareButton() const; /** * Whether the Square button was pressed since the last check. * * @return Whether the button was pressed since the last check. */ bool GetSquareButtonPressed(); /** * Whether the Square button was released since the last check. * * @return Whether the button was released since the last check. */ bool GetSquareButtonReleased(); /** * Constructs an event instance around the square button's digital signal. * * @param loop the event loop instance to attach the event to. * @return an event instance representing the square button's digital signal * attached to the given loop. */ BooleanEvent Square(EventLoop* loop) const; /** * Read the value of the Cross button on the controller. * * @return The state of the button. */ bool GetCrossButton() const; /** * Whether the Cross button was pressed since the last check. * * @return Whether the button was pressed since the last check. */ bool GetCrossButtonPressed(); /** * Whether the Cross button was released since the last check. * * @return Whether the button was released since the last check. */ bool GetCrossButtonReleased(); /** * Constructs an event instance around the cross button's digital signal. * * @param loop the event loop instance to attach the event to. * @return an event instance representing the cross button's digital signal * attached to the given loop. */ BooleanEvent Cross(EventLoop* loop) const; /** * Read the value of the Circle button on the controller. * * @return The state of the button. */ bool GetCircleButton() const; /** * Whether the Circle button was pressed since the last check. * * @return Whether the button was pressed since the last check. */ bool GetCircleButtonPressed(); /** * Whether the Circle button was released since the last check. * * @return Whether the button was released since the last check. */ bool GetCircleButtonReleased(); /** * Constructs an event instance around the circle button's digital signal. * * @param loop the event loop instance to attach the event to. * @return an event instance representing the circle button's digital signal * attached to the given loop. */ BooleanEvent Circle(EventLoop* loop) const; /** * Read the value of the Triangle button on the controller. * * @return The state of the button. */ bool GetTriangleButton() const; /** * Whether the Triangle button was pressed since the last check. * * @return Whether the button was pressed since the last check. */ bool GetTriangleButtonPressed(); /** * Whether the Triangle button was released since the last check. * * @return Whether the button was released since the last check. */ bool GetTriangleButtonReleased(); /** * Constructs an event instance around the triangle button's digital signal. * * @param loop the event loop instance to attach the event to. * @return an event instance representing the triangle button's digital signal * attached to the given loop. */ BooleanEvent Triangle(EventLoop* loop) const; /** * Read the value of the L1 button on the controller. * * @return The state of the button. */ bool GetL1Button() const; /** * Whether the L1 button was pressed since the last check. * * @return Whether the button was pressed since the last check. */ bool GetL1ButtonPressed(); /** * Whether the L1 button was released since the last check. * * @return Whether the button was released since the last check. */ bool GetL1ButtonReleased(); /** * Constructs an event instance around the L1 button's digital signal. * * @param loop the event loop instance to attach the event to. * @return an event instance representing the L1 button's digital signal * attached to the given loop. */ BooleanEvent L1(EventLoop* loop) const; /** * Read the value of the R1 button on the controller. * * @return The state of the button. */ bool GetR1Button() const; /** * Whether the R1 button was pressed since the last check. * * @return Whether the button was pressed since the last check. */ bool GetR1ButtonPressed(); /** * Whether the R1 button was released since the last check. * * @return Whether the button was released since the last check. */ bool GetR1ButtonReleased(); /** * Constructs an event instance around the R1 button's digital signal. * * @param loop the event loop instance to attach the event to. * @return an event instance representing the R1 button's digital signal * attached to the given loop. */ BooleanEvent R1(EventLoop* loop) const; /** * Read the value of the L2 button on the controller. * * @return The state of the button. */ bool GetL2Button() const; /** * Whether the L2 button was pressed since the last check. * * @return Whether the button was pressed since the last check. */ bool GetL2ButtonPressed(); /** * Whether the L2 button was released since the last check. * * @return Whether the button was released since the last check. */ bool GetL2ButtonReleased(); /** * Constructs an event instance around the L2 button's digital signal. * * @param loop the event loop instance to attach the event to. * @return an event instance representing the L2 button's digital signal * attached to the given loop. */ BooleanEvent L2(EventLoop* loop) const; /** * Read the value of the R2 button on the controller. * * @return The state of the button. */ bool GetR2Button() const; /** * Whether the R2 button was pressed since the last check. * * @return Whether the button was pressed since the last check. */ bool GetR2ButtonPressed(); /** * Whether the R2 button was released since the last check. * * @return Whether the button was released since the last check. */ bool GetR2ButtonReleased(); /** * Constructs an event instance around the R2 button's digital signal. * * @param loop the event loop instance to attach the event to. * @return an event instance representing the R2 button's digital signal * attached to the given loop. */ BooleanEvent R2(EventLoop* loop) const; /** * Read the value of the Share button on the controller. * * @return The state of the button. */ bool GetShareButton() const; /** * Whether the Share button was pressed since the last check. * * @return Whether the button was pressed since the last check. */ bool GetShareButtonPressed(); /** * Whether the Share button was released since the last check. * * @return Whether the button was released since the last check. */ bool GetShareButtonReleased(); /** * Constructs an event instance around the share button's digital signal. * * @param loop the event loop instance to attach the event to. * @return an event instance representing the share button's digital signal * attached to the given loop. */ BooleanEvent Share(EventLoop* loop) const; /** * Read the value of the Options button on the controller. * * @return The state of the button. */ bool GetOptionsButton() const; /** * Whether the Options button was pressed since the last check. * * @return Whether the button was pressed since the last check. */ bool GetOptionsButtonPressed(); /** * Whether the Options button was released since the last check. * * @return Whether the button was released since the last check. */ bool GetOptionsButtonReleased(); /** * Constructs an event instance around the options button's digital signal. * * @param loop the event loop instance to attach the event to. * @return an event instance representing the options button's digital signal * attached to the given loop. */ BooleanEvent Options(EventLoop* loop) const; /** * Read the value of the L3 button (pressing the left analog stick) on the * controller. * * @return The state of the button. */ bool GetL3Button() const; /** * Whether the L3 (left stick) button was pressed since the last check. * * @return Whether the button was pressed since the last check. */ bool GetL3ButtonPressed(); /** * Whether the L3 (left stick) button was released since the last check. * * @return Whether the button was released since the last check. */ bool GetL3ButtonReleased(); /** * Constructs an event instance around the L3 button's digital signal. * * @param loop the event loop instance to attach the event to. * @return an event instance representing the L3 button's digital signal * attached to the given loop. */ BooleanEvent L3(EventLoop* loop) const; /** * Read the value of the R3 button (pressing the right analog stick) on the * controller. * * @return The state of the button. */ bool GetR3Button() const; /** * Whether the R3 (right stick) button was pressed since the last check. * * @return Whether the button was pressed since the last check. */ bool GetR3ButtonPressed(); /** * Whether the R3 (right stick) button was released since the last check. * * @return Whether the button was released since the last check. */ bool GetR3ButtonReleased(); /** * Constructs an event instance around the R3 button's digital signal. * * @param loop the event loop instance to attach the event to. * @return an event instance representing the R3 button's digital signal * attached to the given loop. */ BooleanEvent R3(EventLoop* loop) const; /** * Read the value of the PS button on the controller. * * @return The state of the button. */ bool GetPSButton() const; /** * Whether the PS button was pressed since the last check. * * @return Whether the button was pressed since the last check. */ bool GetPSButtonPressed(); /** * Whether the PS button was released since the last check. * * @return Whether the button was released since the last check. */ bool GetPSButtonReleased(); /** * Constructs an event instance around the PS button's digital signal. * * @param loop the event loop instance to attach the event to. * @return an event instance representing the PS button's digital signal * attached to the given loop. */ BooleanEvent PS(EventLoop* loop) const; /** * Read the value of the touchpad button on the controller. * * @return The state of the button. */ bool GetTouchpad() const; /** * Whether the touchpad was pressed since the last check. * * @return Whether the touchpad was pressed since the last check. */ bool GetTouchpadPressed(); /** * Whether the touchpad was released since the last check. * * @return Whether the touchpad was released since the last check. */ bool GetTouchpadReleased(); /** * Constructs an event instance around the touchpad's digital signal. * * @param loop the event loop instance to attach the event to. * @return an event instance representing the touchpad's digital signal * attached to the given loop. */ BooleanEvent Touchpad(EventLoop* loop) const; struct Button { static constexpr int kSquare = 1; static constexpr int kCross = 2; static constexpr int kCircle = 3; static constexpr int kTriangle = 4; static constexpr int kL1 = 5; static constexpr int kR1 = 6; static constexpr int kL2 = 7; static constexpr int kR2 = 8; static constexpr int kShare = 9; static constexpr int kOptions = 10; static constexpr int kL3 = 11; static constexpr int kR3 = 12; static constexpr int kPS = 13; static constexpr int kTouchpad = 14; }; struct Axis { static constexpr int kLeftX = 0; static constexpr int kLeftY = 1; static constexpr int kRightX = 2; static constexpr int kRightY = 5; static constexpr int kL2 = 3; static constexpr int kR2 = 4; }; }; } // namespace frc