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allwpilib/wpilibc/src/main/native/include/wpi/driverstation/Gamepad.hpp
Thad House 5a7d7d50ee [wpilib,cmd] Remove Axis from Gamepad Triggers (#8956) 
It's a bit confusing, especially since some controllers will have this be
a 0:1 button rather than axis.
2026-06-12 06:42:06 -07:00

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// 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 <string>
#include "wpi/driverstation/GenericHID.hpp"
#include "wpi/driverstation/HIDDevice.hpp"
#include "wpi/util/sendable/Sendable.hpp"
#include "wpi/util/sendable/SendableHelper.hpp"
namespace wpi {
/**
* Handle input from Gamepad controllers connected to the Driver Station.
*
* This class handles Gamepad 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.
*
* Only first party controllers from Generic are guaranteed to have the
* correct mapping, and only through the official NI DS. Sim is not guaranteed
* to have the same mapping, as well as any 3rd party controllers.
*/
class Gamepad : public HIDDevice,
public wpi::util::Sendable,
public wpi::util::SendableHelper<Gamepad> {
public:
/** Represents a digital button on an Gamepad. */
enum class Button {
/// Face Down button.
FACE_DOWN = 0,
/// Face Right button.
FACE_RIGHT = 1,
/// Face Left button.
FACE_LEFT = 2,
/// Face Up button.
FACE_UP = 3,
/// Back button.
BACK = 4,
/// Guide button.
GUIDE = 5,
/// Start button.
START = 6,
/// Left stick button.
LEFT_STICK = 7,
/// Right stick button.
RIGHT_STICK = 8,
/// Left bumper button.
LEFT_BUMPER = 9,
/// Right bumper button.
RIGHT_BUMPER = 10,
/// D-pad up button.
DPAD_UP = 11,
/// D-pad down button.
DPAD_DOWN = 12,
/// D-pad left button.
DPAD_LEFT = 13,
/// D-pad right button.
DPAD_RIGHT = 14,
/// Miscellaneous 1 button.
MISC_1 = 15,
/// Right Paddle 1 button.
RIGHT_PADDLE_1 = 16,
/// Left Paddle 1 button.
LEFT_PADDLE_1 = 17,
/// Right Paddle 2 button.
RIGHT_PADDLE_2 = 18,
/// Left Paddle 2 button.
LEFT_PADDLE_2 = 19,
/// Touchpad button.
TOUCHPAD = 20,
/// Miscellaneous 2 button.
MISC_2 = 21,
/// Miscellaneous 3 button.
MISC_3 = 22,
/// Miscellaneous 4 button.
MISC_4 = 23,
/// Miscellaneous 5 button.
MISC_5 = 24,
/// Miscellaneous 6 button.
MISC_6 = 25,
};
/** Represents an axis on an Gamepad. */
enum class Axis {
/// Left X axis.
LEFT_X = 0,
/// Left Y axis.
LEFT_Y = 1,
/// Right X axis.
RIGHT_X = 2,
/// Right Y axis.
RIGHT_Y = 3,
/// Left trigger.
LEFT_TRIGGER = 4,
/// Right trigger.
RIGHT_TRIGGER = 5,
};
/**
* Construct an instance of a 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 Gamepad(int port);
/**
* Construct an instance of a gamepad with a GenericHID object.
*
* @param hid The GenericHID object to use for this gamepad.
*/
explicit Gamepad(GenericHID& hid);
~Gamepad() override = default;
Gamepad(Gamepad&&) = default;
Gamepad& operator=(Gamepad&&) = default;
/**
* Get the underlying GenericHID object.
*
* @return the wrapped GenericHID object
*/
GenericHID& GetHID() override;
/**
* Get the underlying GenericHID object.
*
* @return the wrapped GenericHID object
*/
const GenericHID& GetHID() const override;
/**
* Get the X axis value of left side of the controller. Right is positive.
*
* A deadband of 0.1 is applied by default. Use SetLeftXDeadband() to change
* it.
*
* @return the axis value.
*/
double GetLeftX() const;
/**
* Set the deadband for the left X axis.
*
* The deadband is clamped to [0, 1).
*
* @param deadband The deadband to apply.
*/
void SetLeftXDeadband(double deadband);
/**
* Get the Y axis value of left side of the controller. Back is positive.
*
* A deadband of 0.1 is applied by default. Use SetLeftYDeadband() to change
* it.
*
* @return the axis value.
*/
double GetLeftY() const;
/**
* Set the deadband for the left Y axis.
*
* The deadband is clamped to [0, 1).
*
* @param deadband The deadband to apply.
*/
void SetLeftYDeadband(double deadband);
/**
* Get the X axis value of right side of the controller. Right is positive.
*
* A deadband of 0.1 is applied by default. Use SetRightXDeadband() to change
* it.
*
* @return the axis value.
*/
double GetRightX() const;
/**
* Set the deadband for the right X axis.
*
* The deadband is clamped to [0, 1).
*
* @param deadband The deadband to apply.
*/
void SetRightXDeadband(double deadband);
/**
* Get the Y axis value of right side of the controller. Back is positive.
*
* A deadband of 0.1 is applied by default. Use SetRightYDeadband() to change
* it.
*
* @return the axis value.
*/
double GetRightY() const;
/**
* Set the deadband for the right Y axis.
*
* The deadband is clamped to [0, 1).
*
* @param deadband The deadband to apply.
*/
void SetRightYDeadband(double deadband);
/**
* Get the left trigger value of the controller. Note that this axis
* is bound to the range of [0, 1] as opposed to the usual [-1, 1].
*
* A deadband of 0.01 is applied by default. Use SetLeftTriggerDeadband() to
* change it.
*
* @return the axis value.
*/
double GetLeftTrigger() const;
/**
* Set the deadband for the left trigger axis.
*
* The deadband is clamped to [0, 1).
*
* @param deadband The deadband to apply.
*/
void SetLeftTriggerDeadband(double deadband);
/**
* Constructs an event instance around the axis value of the left trigger.
* The returned trigger will be true when the axis value is greater than
* {@code threshold}.
* @param threshold the minimum axis value for the returned event to be true.
* This value should be in the range [0, 1] where 0 is the unpressed state of
* the axis.
* @param loop the event loop instance to attach the event to.
* @return an event instance that is true when the left trigger's axis
* exceeds the provided threshold, attached to the given event loop
*/
BooleanEvent LeftTrigger(double threshold, EventLoop* loop) const;
/**
* Constructs an event instance around the axis value of the left trigger.
* The returned trigger will be true when the axis value is greater than 0.5.
* @param loop the event loop instance to attach the event to.
* @return an event instance that is true when the left trigger's axis
* exceeds 0.5, attached to the given event loop
*/
BooleanEvent LeftTrigger(EventLoop* loop) const;
/**
* Get the right trigger value of the controller. Note that this axis
* is bound to the range of [0, 1] as opposed to the usual [-1, 1].
*
* A deadband of 0.01 is applied by default. Use SetRightTriggerDeadband() to
* change it.
*
* @return the axis value.
*/
double GetRightTrigger() const;
/**
* Set the deadband for the right trigger axis.
*
* The deadband is clamped to [0, 1).
*
* @param deadband The deadband to apply.
*/
void SetRightTriggerDeadband(double deadband);
/**
* Constructs an event instance around the axis value of the right trigger.
* The returned trigger will be true when the axis value is greater than
* {@code threshold}.
* @param threshold the minimum axis value for the returned event to be true.
* This value should be in the range [0, 1] where 0 is the unpressed state of
* the axis.
* @param loop the event loop instance to attach the event to.
* @return an event instance that is true when the right trigger's axis
* exceeds the provided threshold, attached to the given event loop
*/
BooleanEvent RightTrigger(double threshold, EventLoop* loop) const;
/**
* Constructs an event instance around the axis value of the right trigger.
* The returned trigger will be true when the axis value is greater than 0.5.
* @param loop the event loop instance to attach the event to.
* @return an event instance that is true when the right trigger's axis
* exceeds 0.5, attached to the given event loop
*/
BooleanEvent RightTrigger(EventLoop* loop) const;
/**
* Read the value of the Face Down button on the controller.
*
* @return The state of the button.
*/
bool GetFaceDownButton() const;
/**
* Whether the Face Down button was pressed since the last check.
*
* @return Whether the button was pressed since the last check.
*/
bool GetFaceDownButtonPressed();
/**
* Whether the Face Down button was released since the last check.
*
* @return Whether the button was released since the last check.
*/
bool GetFaceDownButtonReleased();
/**
* Constructs an event instance around the Face Down button's
* digital signal.
*
* @param loop the event loop instance to attach the event to.
* @return an event instance representing the Face Down button's
* digital signal attached to the given loop.
*/
BooleanEvent FaceDown(EventLoop* loop) const;
/**
* Read the value of the Face Right button on the controller.
*
* @return The state of the button.
*/
bool GetFaceRightButton() const;
/**
* Whether the Face Right button was pressed since the last check.
*
* @return Whether the button was pressed since the last check.
*/
bool GetFaceRightButtonPressed();
/**
* Whether the Face Right button was released since the last check.
*
* @return Whether the button was released since the last check.
*/
bool GetFaceRightButtonReleased();
/**
* Constructs an event instance around the Face Right button's
* digital signal.
*
* @param loop the event loop instance to attach the event to.
* @return an event instance representing the Face Right button's
* digital signal attached to the given loop.
*/
BooleanEvent FaceRight(EventLoop* loop) const;
/**
* Read the value of the Face Left button on the controller.
*
* @return The state of the button.
*/
bool GetFaceLeftButton() const;
/**
* Whether the Face Left button was pressed since the last check.
*
* @return Whether the button was pressed since the last check.
*/
bool GetFaceLeftButtonPressed();
/**
* Whether the Face Left button was released since the last check.
*
* @return Whether the button was released since the last check.
*/
bool GetFaceLeftButtonReleased();
/**
* Constructs an event instance around the Face Left button's
* digital signal.
*
* @param loop the event loop instance to attach the event to.
* @return an event instance representing the Face Left button's
* digital signal attached to the given loop.
*/
BooleanEvent FaceLeft(EventLoop* loop) const;
/**
* Read the value of the Face Up button on the controller.
*
* @return The state of the button.
*/
bool GetFaceUpButton() const;
/**
* Whether the Face Up button was pressed since the last check.
*
* @return Whether the button was pressed since the last check.
*/
bool GetFaceUpButtonPressed();
/**
* Whether the Face Up button was released since the last check.
*
* @return Whether the button was released since the last check.
*/
bool GetFaceUpButtonReleased();
/**
* Constructs an event instance around the Face Up button's
* digital signal.
*
* @param loop the event loop instance to attach the event to.
* @return an event instance representing the Face Up button's
* digital signal attached to the given loop.
*/
BooleanEvent FaceUp(EventLoop* loop) const;
/**
* Read the value of the Back button on the controller.
*
* @return The state of the button.
*/
bool GetBackButton() const;
/**
* Whether the Back button was pressed since the last check.
*
* @return Whether the button was pressed since the last check.
*/
bool GetBackButtonPressed();
/**
* Whether the Back button was released since the last check.
*
* @return Whether the button was released since the last check.
*/
bool GetBackButtonReleased();
/**
* Constructs an event instance around the Back button's
* digital signal.
*
* @param loop the event loop instance to attach the event to.
* @return an event instance representing the Back button's
* digital signal attached to the given loop.
*/
BooleanEvent Back(EventLoop* loop) const;
/**
* Read the value of the Guide button on the controller.
*
* @return The state of the button.
*/
bool GetGuideButton() const;
/**
* Whether the Guide button was pressed since the last check.
*
* @return Whether the button was pressed since the last check.
*/
bool GetGuideButtonPressed();
/**
* Whether the Guide button was released since the last check.
*
* @return Whether the button was released since the last check.
*/
bool GetGuideButtonReleased();
/**
* Constructs an event instance around the Guide button's
* digital signal.
*
* @param loop the event loop instance to attach the event to.
* @return an event instance representing the Guide button's
* digital signal attached to the given loop.
*/
BooleanEvent Guide(EventLoop* loop) const;
/**
* Read the value of the Start button on the controller.
*
* @return The state of the button.
*/
bool GetStartButton() const;
/**
* Whether the Start button was pressed since the last check.
*
* @return Whether the button was pressed since the last check.
*/
bool GetStartButtonPressed();
/**
* Whether the Start button was released since the last check.
*
* @return Whether the button was released since the last check.
*/
bool GetStartButtonReleased();
/**
* Constructs an event instance around the Start button's
* digital signal.
*
* @param loop the event loop instance to attach the event to.
* @return an event instance representing the Start button's
* digital signal attached to the given loop.
*/
BooleanEvent Start(EventLoop* loop) const;
/**
* Read the value of the left stick button on the controller.
*
* @return The state of the button.
*/
bool GetLeftStickButton() const;
/**
* Whether the left stick button was pressed since the last check.
*
* @return Whether the button was pressed since the last check.
*/
bool GetLeftStickButtonPressed();
/**
* Whether the left stick button was released since the last check.
*
* @return Whether the button was released since the last check.
*/
bool GetLeftStickButtonReleased();
/**
* 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.
*/
BooleanEvent LeftStick(EventLoop* loop) const;
/**
* Read the value of the right stick button on the controller.
*
* @return The state of the button.
*/
bool GetRightStickButton() const;
/**
* Whether the right stick button was pressed since the last check.
*
* @return Whether the button was pressed since the last check.
*/
bool GetRightStickButtonPressed();
/**
* Whether the right stick button was released since the last check.
*
* @return Whether the button was released since the last check.
*/
bool GetRightStickButtonReleased();
/**
* 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.
*/
BooleanEvent RightStick(EventLoop* loop) const;
/**
* Read the value of the right bumper button on the controller.
*
* @return The state of the button.
*/
bool GetLeftBumperButton() const;
/**
* Whether the right bumper button was pressed since the last check.
*
* @return Whether the button was pressed since the last check.
*/
bool GetLeftBumperButtonPressed();
/**
* Whether the right bumper button was released since the last check.
*
* @return Whether the button was released since the last check.
*/
bool GetLeftBumperButtonReleased();
/**
* Constructs an event instance around the right bumper button's
* digital signal.
*
* @param loop the event loop instance to attach the event to.
* @return an event instance representing the right bumper button's
* digital signal attached to the given loop.
*/
BooleanEvent LeftBumper(EventLoop* loop) const;
/**
* Read the value of the right bumper button on the controller.
*
* @return The state of the button.
*/
bool GetRightBumperButton() const;
/**
* Whether the right bumper button was pressed since the last check.
*
* @return Whether the button was pressed since the last check.
*/
bool GetRightBumperButtonPressed();
/**
* Whether the right bumper button was released since the last check.
*
* @return Whether the button was released since the last check.
*/
bool GetRightBumperButtonReleased();
/**
* Constructs an event instance around the right bumper button's
* digital signal.
*
* @param loop the event loop instance to attach the event to.
* @return an event instance representing the right bumper button's
* digital signal attached to the given loop.
*/
BooleanEvent RightBumper(EventLoop* loop) const;
/**
* Read the value of the D-pad up button on the controller.
*
* @return The state of the button.
*/
bool GetDpadUpButton() const;
/**
* Whether the D-pad up button was pressed since the last check.
*
* @return Whether the button was pressed since the last check.
*/
bool GetDpadUpButtonPressed();
/**
* Whether the D-pad up button was released since the last check.
*
* @return Whether the button was released since the last check.
*/
bool GetDpadUpButtonReleased();
/**
* Constructs an event instance around the D-pad up button's
* digital signal.
*
* @param loop the event loop instance to attach the event to.
* @return an event instance representing the D-pad up button's
* digital signal attached to the given loop.
*/
BooleanEvent DpadUp(EventLoop* loop) const;
/**
* Read the value of the D-pad down button on the controller.
*
* @return The state of the button.
*/
bool GetDpadDownButton() const;
/**
* Whether the D-pad down button was pressed since the last check.
*
* @return Whether the button was pressed since the last check.
*/
bool GetDpadDownButtonPressed();
/**
* Whether the D-pad down button was released since the last check.
*
* @return Whether the button was released since the last check.
*/
bool GetDpadDownButtonReleased();
/**
* Constructs an event instance around the D-pad down button's
* digital signal.
*
* @param loop the event loop instance to attach the event to.
* @return an event instance representing the D-pad down button's
* digital signal attached to the given loop.
*/
BooleanEvent DpadDown(EventLoop* loop) const;
/**
* Read the value of the D-pad left button on the controller.
*
* @return The state of the button.
*/
bool GetDpadLeftButton() const;
/**
* Whether the D-pad left button was pressed since the last check.
*
* @return Whether the button was pressed since the last check.
*/
bool GetDpadLeftButtonPressed();
/**
* Whether the D-pad left button was released since the last check.
*
* @return Whether the button was released since the last check.
*/
bool GetDpadLeftButtonReleased();
/**
* Constructs an event instance around the D-pad left button's
* digital signal.
*
* @param loop the event loop instance to attach the event to.
* @return an event instance representing the D-pad left button's
* digital signal attached to the given loop.
*/
BooleanEvent DpadLeft(EventLoop* loop) const;
/**
* Read the value of the D-pad right button on the controller.
*
* @return The state of the button.
*/
bool GetDpadRightButton() const;
/**
* Whether the D-pad right button was pressed since the last check.
*
* @return Whether the button was pressed since the last check.
*/
bool GetDpadRightButtonPressed();
/**
* Whether the D-pad right button was released since the last check.
*
* @return Whether the button was released since the last check.
*/
bool GetDpadRightButtonReleased();
/**
* Constructs an event instance around the D-pad right button's
* digital signal.
*
* @param loop the event loop instance to attach the event to.
* @return an event instance representing the D-pad right button's
* digital signal attached to the given loop.
*/
BooleanEvent DpadRight(EventLoop* loop) const;
/**
* Read the value of the Miscellaneous 1 button on the controller.
*
* @return The state of the button.
*/
bool GetMisc1Button() const;
/**
* Whether the Miscellaneous 1 button was pressed since the last check.
*
* @return Whether the button was pressed since the last check.
*/
bool GetMisc1ButtonPressed();
/**
* Whether the Miscellaneous 1 button was released since the last check.
*
* @return Whether the button was released since the last check.
*/
bool GetMisc1ButtonReleased();
/**
* Constructs an event instance around the Miscellaneous 1 button's
* digital signal.
*
* @param loop the event loop instance to attach the event to.
* @return an event instance representing the Miscellaneous 1 button's
* digital signal attached to the given loop.
*/
BooleanEvent Misc1(EventLoop* loop) const;
/**
* Read the value of the Right Paddle 1 button on the controller.
*
* @return The state of the button.
*/
bool GetRightPaddle1Button() const;
/**
* Whether the Right Paddle 1 button was pressed since the last check.
*
* @return Whether the button was pressed since the last check.
*/
bool GetRightPaddle1ButtonPressed();
/**
* Whether the Right Paddle 1 button was released since the last check.
*
* @return Whether the button was released since the last check.
*/
bool GetRightPaddle1ButtonReleased();
/**
* Constructs an event instance around the Right Paddle 1 button's
* digital signal.
*
* @param loop the event loop instance to attach the event to.
* @return an event instance representing the Right Paddle 1 button's
* digital signal attached to the given loop.
*/
BooleanEvent RightPaddle1(EventLoop* loop) const;
/**
* Read the value of the Left Paddle 1 button on the controller.
*
* @return The state of the button.
*/
bool GetLeftPaddle1Button() const;
/**
* Whether the Left Paddle 1 button was pressed since the last check.
*
* @return Whether the button was pressed since the last check.
*/
bool GetLeftPaddle1ButtonPressed();
/**
* Whether the Left Paddle 1 button was released since the last check.
*
* @return Whether the button was released since the last check.
*/
bool GetLeftPaddle1ButtonReleased();
/**
* Constructs an event instance around the Left Paddle 1 button's
* digital signal.
*
* @param loop the event loop instance to attach the event to.
* @return an event instance representing the Left Paddle 1 button's
* digital signal attached to the given loop.
*/
BooleanEvent LeftPaddle1(EventLoop* loop) const;
/**
* Read the value of the Right Paddle 2 button on the controller.
*
* @return The state of the button.
*/
bool GetRightPaddle2Button() const;
/**
* Whether the Right Paddle 2 button was pressed since the last check.
*
* @return Whether the button was pressed since the last check.
*/
bool GetRightPaddle2ButtonPressed();
/**
* Whether the Right Paddle 2 button was released since the last check.
*
* @return Whether the button was released since the last check.
*/
bool GetRightPaddle2ButtonReleased();
/**
* Constructs an event instance around the Right Paddle 2 button's
* digital signal.
*
* @param loop the event loop instance to attach the event to.
* @return an event instance representing the Right Paddle 2 button's
* digital signal attached to the given loop.
*/
BooleanEvent RightPaddle2(EventLoop* loop) const;
/**
* Read the value of the Left Paddle 2 button on the controller.
*
* @return The state of the button.
*/
bool GetLeftPaddle2Button() const;
/**
* Whether the Left Paddle 2 button was pressed since the last check.
*
* @return Whether the button was pressed since the last check.
*/
bool GetLeftPaddle2ButtonPressed();
/**
* Whether the Left Paddle 2 button was released since the last check.
*
* @return Whether the button was released since the last check.
*/
bool GetLeftPaddle2ButtonReleased();
/**
* Constructs an event instance around the Left Paddle 2 button's
* digital signal.
*
* @param loop the event loop instance to attach the event to.
* @return an event instance representing the Left Paddle 2 button's
* digital signal attached to the given loop.
*/
BooleanEvent LeftPaddle2(EventLoop* loop) const;
/**
* Read the value of the Touchpad button on the controller.
*
* @return The state of the button.
*/
bool GetTouchpadButton() const;
/**
* Whether the Touchpad button was pressed since the last check.
*
* @return Whether the button was pressed since the last check.
*/
bool GetTouchpadButtonPressed();
/**
* Whether the Touchpad button was released since the last check.
*
* @return Whether the button was released since the last check.
*/
bool GetTouchpadButtonReleased();
/**
* Constructs an event instance around the Touchpad button's
* digital signal.
*
* @param loop the event loop instance to attach the event to.
* @return an event instance representing the Touchpad button's
* digital signal attached to the given loop.
*/
BooleanEvent Touchpad(EventLoop* loop) const;
/**
* Read the value of the Miscellaneous 2 button on the controller.
*
* @return The state of the button.
*/
bool GetMisc2Button() const;
/**
* Whether the Miscellaneous 2 button was pressed since the last check.
*
* @return Whether the button was pressed since the last check.
*/
bool GetMisc2ButtonPressed();
/**
* Whether the Miscellaneous 2 button was released since the last check.
*
* @return Whether the button was released since the last check.
*/
bool GetMisc2ButtonReleased();
/**
* Constructs an event instance around the Miscellaneous 2 button's
* digital signal.
*
* @param loop the event loop instance to attach the event to.
* @return an event instance representing the Miscellaneous 2 button's
* digital signal attached to the given loop.
*/
BooleanEvent Misc2(EventLoop* loop) const;
/**
* Read the value of the Miscellaneous 3 button on the controller.
*
* @return The state of the button.
*/
bool GetMisc3Button() const;
/**
* Whether the Miscellaneous 3 button was pressed since the last check.
*
* @return Whether the button was pressed since the last check.
*/
bool GetMisc3ButtonPressed();
/**
* Whether the Miscellaneous 3 button was released since the last check.
*
* @return Whether the button was released since the last check.
*/
bool GetMisc3ButtonReleased();
/**
* Constructs an event instance around the Miscellaneous 3 button's
* digital signal.
*
* @param loop the event loop instance to attach the event to.
* @return an event instance representing the Miscellaneous 3 button's
* digital signal attached to the given loop.
*/
BooleanEvent Misc3(EventLoop* loop) const;
/**
* Read the value of the Miscellaneous 4 button on the controller.
*
* @return The state of the button.
*/
bool GetMisc4Button() const;
/**
* Whether the Miscellaneous 4 button was pressed since the last check.
*
* @return Whether the button was pressed since the last check.
*/
bool GetMisc4ButtonPressed();
/**
* Whether the Miscellaneous 4 button was released since the last check.
*
* @return Whether the button was released since the last check.
*/
bool GetMisc4ButtonReleased();
/**
* Constructs an event instance around the Miscellaneous 4 button's
* digital signal.
*
* @param loop the event loop instance to attach the event to.
* @return an event instance representing the Miscellaneous 4 button's
* digital signal attached to the given loop.
*/
BooleanEvent Misc4(EventLoop* loop) const;
/**
* Read the value of the Miscellaneous 5 button on the controller.
*
* @return The state of the button.
*/
bool GetMisc5Button() const;
/**
* Whether the Miscellaneous 5 button was pressed since the last check.
*
* @return Whether the button was pressed since the last check.
*/
bool GetMisc5ButtonPressed();
/**
* Whether the Miscellaneous 5 button was released since the last check.
*
* @return Whether the button was released since the last check.
*/
bool GetMisc5ButtonReleased();
/**
* Constructs an event instance around the Miscellaneous 5 button's
* digital signal.
*
* @param loop the event loop instance to attach the event to.
* @return an event instance representing the Miscellaneous 5 button's
* digital signal attached to the given loop.
*/
BooleanEvent Misc5(EventLoop* loop) const;
/**
* Read the value of the Miscellaneous 6 button on the controller.
*
* @return The state of the button.
*/
bool GetMisc6Button() const;
/**
* Whether the Miscellaneous 6 button was pressed since the last check.
*
* @return Whether the button was pressed since the last check.
*/
bool GetMisc6ButtonPressed();
/**
* Whether the Miscellaneous 6 button was released since the last check.
*
* @return Whether the button was released since the last check.
*/
bool GetMisc6ButtonReleased();
/**
* Constructs an event instance around the Miscellaneous 6 button's
* digital signal.
*
* @param loop the event loop instance to attach the event to.
* @return an event instance representing the Miscellaneous 6 button's
* digital signal attached to the given loop.
*/
BooleanEvent Misc6(EventLoop* loop) const;
/**
* Get the button value.
*
* This method returns true if the button is being held down at the time
* that this method is being called.
*
* @param button The button
* @return The state of the button.
*/
bool GetButton(Button button) const;
/**
* Whether the button was pressed since the last check.
*
* This method returns true if the button went from not pressed to held down
* since the last time this method was called. This is useful if you only
* want to call a function once when you press the button.
*
* @param button The button
* @return Whether the button was pressed since the last check.
*/
bool GetButtonPressed(Button button);
/**
* Whether the button was released since the last check.
*
* This method returns true if the button went from held down to not pressed
* since the last time this method was called. This is useful if you only
* want to call a function once when you release the button.
*
* @param button The button
* @return Whether the button was released since the last check.
*/
bool GetButtonReleased(Button button);
/**
* Constructs an event instance around this button's digital signal.
*
* @param button the button
* @param loop the event loop instance to attach the event to.
* @return an event instance representing the button's digital signal attached
* to the given loop.
*/
BooleanEvent ButtonEvent(Button button, EventLoop* loop) const;
/**
* Get the value of the axis.
*
* @param axis The axis to read
* @return The value of the axis.
*/
double GetAxis(Axis axis) const;
/**
* Constructs an event instance that is true when the axis value is less than
* threshold
*
* @param axis The axis to read
* @param threshold The value below which this trigger should return true.
* @param loop the event loop instance to attach the event to.
* @return an event instance that is true when the axis value is less than the
* provided threshold.
*/
BooleanEvent AxisLessThan(Axis axis, double threshold, EventLoop* loop) const;
/**
* Constructs an event instance that is true when the axis value is greater
* than threshold
*
* @param axis The axis to read
* @param threshold The value above which this trigger should return true.
* @param loop the event loop instance to attach the event to.
* @return an event instance that is true when the axis value is greater than
* the provided threshold.
*/
BooleanEvent AxisGreaterThan(Axis axis, double threshold,
EventLoop* loop) const;
/**
* Get the bitmask of axes for the gamepad.
*
* @return the number of axis for the current gamepad
*/
int GetAxesAvailable() const;
/**
* For the current gamepad, return the bitmask of available buttons.
*
* @return the bitmask of buttons for the current gamepad
*/
uint64_t GetButtonsAvailable() const;
/**
* Get if the gamepad is connected.
*
* @return true if the gamepad is connected
*/
bool IsConnected() const;
/**
* Get the type of the gamepad.
*
* @return the type of the gamepad.
*/
GenericHID::HIDType GetGamepadType() const;
/**
* Get the supported outputs for the gamepad.
*
* @return the supported outputs for the gamepad.
*/
GenericHID::SupportedOutputs GetSupportedOutputs() const;
/**
* Get the name of the gamepad.
*
* @return the name of the gamepad.
*/
std::string GetName() const;
/**
* Get the port number of the gamepad.
*
* @return The port number of the gamepad.
*/
int GetPort() const;
/**
* Set leds on the gamepad. If only mono is supported, the system will use
* the highest value passed in.
*
* @param r Red value from 0-255
* @param g Green value from 0-255
* @param b Blue value from 0-255
*/
void SetLeds(int r, int g, int b);
/**
* Set the rumble output for the HID.
*
* The DS currently supports 4 rumble values: left rumble, right rumble, left
* trigger rumble, and right trigger rumble.
*
* @param type Which rumble value to set
* @param value The normalized value (0 to 1) to set the rumble to
*/
void SetRumble(GenericHID::RumbleType type, double value);
/**
* Check if a touchpad finger is available.
* @param touchpad The touchpad to check.
* @param finger The finger to check.
* @return true if the touchpad finger is available.
*/
bool GetTouchpadFingerAvailable(int touchpad, int finger) const;
/**
* Get the touchpad finger data.
* @param touchpad The touchpad to read.
* @param finger The finger to read.
* @return The touchpad finger data.
*/
TouchpadFinger GetTouchpadFinger(int touchpad, int finger) const;
void InitSendable(wpi::util::SendableBuilder& builder) override;
private:
double GetAxisForSendable(Axis axis) const;
bool GetButtonForSendable(Button button) const;
double m_leftXDeadband = 0.1;
double m_leftYDeadband = 0.1;
double m_rightXDeadband = 0.1;
double m_rightYDeadband = 0.1;
double m_leftTriggerDeadband = 0.01;
double m_rightTriggerDeadband = 0.01;
GenericHID* m_hid;
};
} // namespace wpi
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