mirror of
https://github.com/wpilibsuite/allwpilib
synced 2026-06-19 00:41:43 +00:00
4aa21e947d
Both programs used bumper, so we shouldn't rename it. There's no reason to change it, and we don't need to match SDL.
1312 lines
40 KiB
Java
1312 lines
40 KiB
Java
// 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 org.wpilib.driverstation;
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import org.wpilib.event.BooleanEvent;
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import org.wpilib.event.EventLoop;
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import org.wpilib.hardware.hal.HAL;
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import org.wpilib.util.sendable.Sendable;
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import org.wpilib.util.sendable.SendableBuilder;
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/**
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* Handle input from Gamepad controllers connected to the Driver Station.
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*
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* <p>This class handles Gamepad 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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* <p>Only first party controllers from Generic are guaranteed to have the correct mapping, and only
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* through the official NI DS. Sim is not guaranteed to have the same mapping, as well as any 3rd
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* party controllers.
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*/
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public class Gamepad extends GenericHID implements Sendable {
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/** Represents a digital button on a Gamepad. */
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public enum Button {
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/** South Face button. */
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kSouthFace(0),
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/** East Face button. */
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kEastFace(1),
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/** West Face button. */
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kWestFace(2),
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/** North Face button. */
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kNorthFace(3),
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/** Back button. */
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kBack(4),
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/** Guide button. */
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kGuide(5),
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/** Start button. */
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kStart(6),
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/** Left stick button. */
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kLeftStick(7),
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/** Right stick button. */
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kRightStick(8),
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/** Left bumper button. */
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kLeftBumper(9),
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/** Right bumper button. */
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kRightBumper(10),
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/** D-pad up button. */
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kDpadUp(11),
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/** D-pad down button. */
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kDpadDown(12),
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/** D-pad left button. */
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kDpadLeft(13),
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/** D-pad right button. */
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kDpadRight(14),
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/** Miscellaneous 1 button. */
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kMisc1(15),
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/** Right Paddle 1 button. */
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kRightPaddle1(16),
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/** Left Paddle 1 button. */
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kLeftPaddle1(17),
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/** Right Paddle 2 button. */
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kRightPaddle2(18),
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/** Left Paddle 2 button. */
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kLeftPaddle2(19),
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/** Touchpad button. */
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kTouchpad(20),
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/** Miscellaneous 2 button. */
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kMisc2(21),
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/** Miscellaneous 3 button. */
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kMisc3(22),
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/** Miscellaneous 4 button. */
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kMisc4(23),
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/** Miscellaneous 5 button. */
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kMisc5(24),
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/** Miscellaneous 6 button. */
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kMisc6(25);
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/** Button value. */
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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 appending `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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// Remove leading `k`
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return this.name().substring(1) + "Button";
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}
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}
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/** Represents an axis on an Gamepad. */
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public enum Axis {
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/** Left X axis. */
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kLeftX(0),
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/** Left Y axis. */
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kLeftY(1),
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/** Right X axis. */
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kRightX(2),
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/** Right Y axis. */
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kRightY(3),
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/** Left trigger. */
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kLeftTrigger(4),
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/** Right trigger. */
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kRightTrigger(5);
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/** Axis value. */
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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 appending `Axis` if the name ends with `Trigger`.
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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 (0-5).
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*/
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public Gamepad(final int port) {
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super(port);
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HAL.reportUsage("HID", port, "Gamepad");
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}
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/**
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* Get the X axis value of left side of the controller. Right is positive.
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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 Y axis value of left side of the controller. Back is positive.
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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 X axis value of right side of the controller. Right is positive.
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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 right side of the controller. Back is positive.
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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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* Get the left trigger axis value of the controller. Note that this axis is bound to the range of
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* [0, 1] as opposed to the usual [-1, 1].
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*
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* @return The axis value.
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*/
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public double getLeftTriggerAxis() {
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return getRawAxis(Axis.kLeftTrigger.value);
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}
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/**
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* Constructs an event instance around the axis value of the left trigger. The returned trigger
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* will be true when the axis value is greater than {@code threshold}.
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*
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* @param threshold the minimum axis value for the returned {@link BooleanEvent} to be true. This
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* value should be in the range [0, 1] where 0 is the unpressed state of the axis.
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* @param loop the event loop instance to attach the event to.
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* @return an event instance that is true when the left trigger's axis exceeds the provided
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* threshold, attached to the given event loop
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*/
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public BooleanEvent leftTrigger(double threshold, EventLoop loop) {
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return axisGreaterThan(Axis.kLeftTrigger.value, threshold, loop);
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}
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/**
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* Constructs an event instance around the axis value of the left trigger. The returned trigger
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* will be true when the axis value is greater than 0.5.
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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 that is true when the left trigger's axis exceeds the provided
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* threshold, attached to the given event loop
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*/
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public BooleanEvent leftTrigger(EventLoop loop) {
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return leftTrigger(0.5, loop);
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}
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/**
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* Get the right trigger axis value of the controller. Note that this axis is bound to the range
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* of [0, 1] as opposed to the usual [-1, 1].
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*
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* @return The axis value.
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*/
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public double getRightTriggerAxis() {
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return getRawAxis(Axis.kRightTrigger.value);
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}
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/**
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* Constructs an event instance around the axis value of the right trigger. The returned trigger
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* will be true when the axis value is greater than {@code threshold}.
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*
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* @param threshold the minimum axis value for the returned {@link BooleanEvent} to be true. This
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* value should be in the range [0, 1] where 0 is the unpressed state of the axis.
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* @param loop the event loop instance to attach the event to.
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* @return an event instance that is true when the right trigger's axis exceeds the provided
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* threshold, attached to the given event loop
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*/
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public BooleanEvent rightTrigger(double threshold, EventLoop loop) {
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return axisGreaterThan(Axis.kRightTrigger.value, threshold, loop);
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}
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/**
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* Constructs an event instance around the axis value of the right trigger. The returned trigger
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* will be true when the axis value is greater than 0.5.
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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 that is true when the right trigger's axis exceeds the provided
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* threshold, attached to the given event loop
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*/
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public BooleanEvent rightTrigger(EventLoop loop) {
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return rightTrigger(0.5, loop);
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}
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/**
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* Read the value of the South Face 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 getSouthFaceButton() {
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return getRawButton(Button.kSouthFace.value);
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}
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/**
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* Whether the South Face 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 getSouthFaceButtonPressed() {
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return getRawButtonPressed(Button.kSouthFace.value);
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}
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/**
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* Whether the South Face 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 getSouthFaceButtonReleased() {
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return getRawButtonReleased(Button.kSouthFace.value);
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}
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/**
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* Constructs an event instance around the South Face 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 South Face button's digital signal attached to the
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* given loop.
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*/
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public BooleanEvent southFace(EventLoop loop) {
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return button(Button.kSouthFace.value, loop);
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}
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/**
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* Read the value of the East Face 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 getEastFaceButton() {
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return getRawButton(Button.kEastFace.value);
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}
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/**
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* Whether the East Face 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 getEastFaceButtonPressed() {
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return getRawButtonPressed(Button.kEastFace.value);
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}
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/**
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* Whether the East Face 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 getEastFaceButtonReleased() {
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return getRawButtonReleased(Button.kEastFace.value);
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}
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/**
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* Constructs an event instance around the East Face 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 East Face button's digital signal attached to the
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* given loop.
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*/
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public BooleanEvent eastFace(EventLoop loop) {
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return button(Button.kEastFace.value, loop);
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}
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/**
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* Read the value of the West Face 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 getWestFaceButton() {
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return getRawButton(Button.kWestFace.value);
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}
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/**
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* Whether the West Face 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 getWestFaceButtonPressed() {
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return getRawButtonPressed(Button.kWestFace.value);
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}
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/**
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* Whether the West Face 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 getWestFaceButtonReleased() {
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return getRawButtonReleased(Button.kWestFace.value);
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}
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/**
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* Constructs an event instance around the West Face 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 West Face button's digital signal attached to the
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* given loop.
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*/
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public BooleanEvent westFace(EventLoop loop) {
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return button(Button.kWestFace.value, loop);
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}
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/**
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* Read the value of the North Face 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 getNorthFaceButton() {
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return getRawButton(Button.kNorthFace.value);
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}
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/**
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* Whether the North Face 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 getNorthFaceButtonPressed() {
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return getRawButtonPressed(Button.kNorthFace.value);
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}
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/**
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* Whether the North Face 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 getNorthFaceButtonReleased() {
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return getRawButtonReleased(Button.kNorthFace.value);
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}
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/**
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* Constructs an event instance around the North Face 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 North Face button's digital signal attached to the
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* given loop.
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*/
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public BooleanEvent northFace(EventLoop loop) {
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return button(Button.kNorthFace.value, loop);
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}
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/**
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* Read the value of the Back 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 getBackButton() {
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return getRawButton(Button.kBack.value);
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}
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/**
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* Whether the Back 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 getBackButtonPressed() {
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return getRawButtonPressed(Button.kBack.value);
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}
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/**
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* Whether the Back 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 getBackButtonReleased() {
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return getRawButtonReleased(Button.kBack.value);
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}
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/**
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* Constructs an event instance around the Back 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 Back button's digital signal attached to the given
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* loop.
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*/
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public BooleanEvent back(EventLoop loop) {
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return button(Button.kBack.value, loop);
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}
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/**
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* Read the value of the Guide 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 getGuideButton() {
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return getRawButton(Button.kGuide.value);
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}
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/**
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* Whether the Guide 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 getGuideButtonPressed() {
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return getRawButtonPressed(Button.kGuide.value);
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}
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/**
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* Whether the Guide 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 getGuideButtonReleased() {
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return getRawButtonReleased(Button.kGuide.value);
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}
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/**
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* Constructs an event instance around the Guide 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 Guide button's digital signal attached to the given
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* loop.
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*/
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public BooleanEvent guide(EventLoop loop) {
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return button(Button.kGuide.value, loop);
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}
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/**
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* Read the value of the Start 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 getStartButton() {
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return getRawButton(Button.kStart.value);
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}
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/**
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* Whether the Start 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 getStartButtonPressed() {
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return getRawButtonPressed(Button.kStart.value);
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}
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/**
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* Whether the Start 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 getStartButtonReleased() {
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return getRawButtonReleased(Button.kStart.value);
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}
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/**
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* Constructs an event instance around the Start 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 Start button's digital signal attached to the given
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* loop.
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*/
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public BooleanEvent start(EventLoop loop) {
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return button(Button.kStart.value, loop);
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}
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/**
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* Read the value of the left stick 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 getLeftStickButton() {
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return getRawButton(Button.kLeftStick.value);
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}
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/**
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* Whether the left stick 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 getLeftStickButtonPressed() {
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return getRawButtonPressed(Button.kLeftStick.value);
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}
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/**
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* Whether the left stick 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 getLeftStickButtonReleased() {
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return getRawButtonReleased(Button.kLeftStick.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) {
|
|
return button(Button.kLeftStick.value, loop);
|
|
}
|
|
|
|
/**
|
|
* Read the value of the right stick button on the controller.
|
|
*
|
|
* @return The state of the button.
|
|
*/
|
|
public boolean getRightStickButton() {
|
|
return getRawButton(Button.kRightStick.value);
|
|
}
|
|
|
|
/**
|
|
* Whether the right stick button was pressed since the last check.
|
|
*
|
|
* @return Whether the button was pressed since the last check.
|
|
*/
|
|
public boolean getRightStickButtonPressed() {
|
|
return getRawButtonPressed(Button.kRightStick.value);
|
|
}
|
|
|
|
/**
|
|
* Whether the right stick button was released since the last check.
|
|
*
|
|
* @return Whether the button was released since the last check.
|
|
*/
|
|
public boolean getRightStickButtonReleased() {
|
|
return getRawButtonReleased(Button.kRightStick.value);
|
|
}
|
|
|
|
/**
|
|
* Constructs an event instance around the right stick button's digital signal.
|
|
*
|
|
* @param loop the event loop instance to attach the event to.
|
|
* @return an event instance representing the right stick button's digital signal attached to the
|
|
* given loop.
|
|
*/
|
|
public BooleanEvent rightStick(EventLoop loop) {
|
|
return button(Button.kRightStick.value, loop);
|
|
}
|
|
|
|
/**
|
|
* Read the value of the right bumper button on the controller.
|
|
*
|
|
* @return The state of the button.
|
|
*/
|
|
public boolean getLeftBumperButton() {
|
|
return getRawButton(Button.kLeftBumper.value);
|
|
}
|
|
|
|
/**
|
|
* Whether the right bumper button was pressed since the last check.
|
|
*
|
|
* @return Whether the button was pressed since the last check.
|
|
*/
|
|
public boolean getLeftBumperButtonPressed() {
|
|
return getRawButtonPressed(Button.kLeftBumper.value);
|
|
}
|
|
|
|
/**
|
|
* Whether the right bumper button was released since the last check.
|
|
*
|
|
* @return Whether the button was released since the last check.
|
|
*/
|
|
public boolean getLeftBumperButtonReleased() {
|
|
return getRawButtonReleased(Button.kLeftBumper.value);
|
|
}
|
|
|
|
/**
|
|
* 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.
|
|
*/
|
|
public BooleanEvent leftBumper(EventLoop loop) {
|
|
return button(Button.kLeftBumper.value, loop);
|
|
}
|
|
|
|
/**
|
|
* Read the value of the right bumper button on the controller.
|
|
*
|
|
* @return The state of the button.
|
|
*/
|
|
public boolean getRightBumperButton() {
|
|
return getRawButton(Button.kRightBumper.value);
|
|
}
|
|
|
|
/**
|
|
* Whether the right bumper button was pressed since the last check.
|
|
*
|
|
* @return Whether the button was pressed since the last check.
|
|
*/
|
|
public boolean getRightBumperButtonPressed() {
|
|
return getRawButtonPressed(Button.kRightBumper.value);
|
|
}
|
|
|
|
/**
|
|
* Whether the right bumper button was released since the last check.
|
|
*
|
|
* @return Whether the button was released since the last check.
|
|
*/
|
|
public boolean getRightBumperButtonReleased() {
|
|
return getRawButtonReleased(Button.kRightBumper.value);
|
|
}
|
|
|
|
/**
|
|
* 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.
|
|
*/
|
|
public BooleanEvent rightBumper(EventLoop loop) {
|
|
return button(Button.kRightBumper.value, loop);
|
|
}
|
|
|
|
/**
|
|
* Read the value of the D-pad up button on the controller.
|
|
*
|
|
* @return The state of the button.
|
|
*/
|
|
public boolean getDpadUpButton() {
|
|
return getRawButton(Button.kDpadUp.value);
|
|
}
|
|
|
|
/**
|
|
* Whether the D-pad up button was pressed since the last check.
|
|
*
|
|
* @return Whether the button was pressed since the last check.
|
|
*/
|
|
public boolean getDpadUpButtonPressed() {
|
|
return getRawButtonPressed(Button.kDpadUp.value);
|
|
}
|
|
|
|
/**
|
|
* Whether the D-pad up button was released since the last check.
|
|
*
|
|
* @return Whether the button was released since the last check.
|
|
*/
|
|
public boolean getDpadUpButtonReleased() {
|
|
return getRawButtonReleased(Button.kDpadUp.value);
|
|
}
|
|
|
|
/**
|
|
* 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.
|
|
*/
|
|
public BooleanEvent dpadUp(EventLoop loop) {
|
|
return button(Button.kDpadUp.value, loop);
|
|
}
|
|
|
|
/**
|
|
* Read the value of the D-pad down button on the controller.
|
|
*
|
|
* @return The state of the button.
|
|
*/
|
|
public boolean getDpadDownButton() {
|
|
return getRawButton(Button.kDpadDown.value);
|
|
}
|
|
|
|
/**
|
|
* Whether the D-pad down button was pressed since the last check.
|
|
*
|
|
* @return Whether the button was pressed since the last check.
|
|
*/
|
|
public boolean getDpadDownButtonPressed() {
|
|
return getRawButtonPressed(Button.kDpadDown.value);
|
|
}
|
|
|
|
/**
|
|
* Whether the D-pad down button was released since the last check.
|
|
*
|
|
* @return Whether the button was released since the last check.
|
|
*/
|
|
public boolean getDpadDownButtonReleased() {
|
|
return getRawButtonReleased(Button.kDpadDown.value);
|
|
}
|
|
|
|
/**
|
|
* 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.
|
|
*/
|
|
public BooleanEvent dpadDown(EventLoop loop) {
|
|
return button(Button.kDpadDown.value, loop);
|
|
}
|
|
|
|
/**
|
|
* Read the value of the D-pad left button on the controller.
|
|
*
|
|
* @return The state of the button.
|
|
*/
|
|
public boolean getDpadLeftButton() {
|
|
return getRawButton(Button.kDpadLeft.value);
|
|
}
|
|
|
|
/**
|
|
* Whether the D-pad left button was pressed since the last check.
|
|
*
|
|
* @return Whether the button was pressed since the last check.
|
|
*/
|
|
public boolean getDpadLeftButtonPressed() {
|
|
return getRawButtonPressed(Button.kDpadLeft.value);
|
|
}
|
|
|
|
/**
|
|
* Whether the D-pad left button was released since the last check.
|
|
*
|
|
* @return Whether the button was released since the last check.
|
|
*/
|
|
public boolean getDpadLeftButtonReleased() {
|
|
return getRawButtonReleased(Button.kDpadLeft.value);
|
|
}
|
|
|
|
/**
|
|
* 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.
|
|
*/
|
|
public BooleanEvent dpadLeft(EventLoop loop) {
|
|
return button(Button.kDpadLeft.value, loop);
|
|
}
|
|
|
|
/**
|
|
* Read the value of the D-pad right button on the controller.
|
|
*
|
|
* @return The state of the button.
|
|
*/
|
|
public boolean getDpadRightButton() {
|
|
return getRawButton(Button.kDpadRight.value);
|
|
}
|
|
|
|
/**
|
|
* Whether the D-pad right button was pressed since the last check.
|
|
*
|
|
* @return Whether the button was pressed since the last check.
|
|
*/
|
|
public boolean getDpadRightButtonPressed() {
|
|
return getRawButtonPressed(Button.kDpadRight.value);
|
|
}
|
|
|
|
/**
|
|
* Whether the D-pad right button was released since the last check.
|
|
*
|
|
* @return Whether the button was released since the last check.
|
|
*/
|
|
public boolean getDpadRightButtonReleased() {
|
|
return getRawButtonReleased(Button.kDpadRight.value);
|
|
}
|
|
|
|
/**
|
|
* 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.
|
|
*/
|
|
public BooleanEvent dpadRight(EventLoop loop) {
|
|
return button(Button.kDpadRight.value, loop);
|
|
}
|
|
|
|
/**
|
|
* Read the value of the Miscellaneous 1 button on the controller.
|
|
*
|
|
* @return The state of the button.
|
|
*/
|
|
public boolean getMisc1Button() {
|
|
return getRawButton(Button.kMisc1.value);
|
|
}
|
|
|
|
/**
|
|
* Whether the Miscellaneous 1 button was pressed since the last check.
|
|
*
|
|
* @return Whether the button was pressed since the last check.
|
|
*/
|
|
public boolean getMisc1ButtonPressed() {
|
|
return getRawButtonPressed(Button.kMisc1.value);
|
|
}
|
|
|
|
/**
|
|
* Whether the Miscellaneous 1 button was released since the last check.
|
|
*
|
|
* @return Whether the button was released since the last check.
|
|
*/
|
|
public boolean getMisc1ButtonReleased() {
|
|
return getRawButtonReleased(Button.kMisc1.value);
|
|
}
|
|
|
|
/**
|
|
* 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.
|
|
*/
|
|
public BooleanEvent misc1(EventLoop loop) {
|
|
return button(Button.kMisc1.value, loop);
|
|
}
|
|
|
|
/**
|
|
* Read the value of the Right Paddle 1 button on the controller.
|
|
*
|
|
* @return The state of the button.
|
|
*/
|
|
public boolean getRightPaddle1Button() {
|
|
return getRawButton(Button.kRightPaddle1.value);
|
|
}
|
|
|
|
/**
|
|
* Whether the Right Paddle 1 button was pressed since the last check.
|
|
*
|
|
* @return Whether the button was pressed since the last check.
|
|
*/
|
|
public boolean getRightPaddle1ButtonPressed() {
|
|
return getRawButtonPressed(Button.kRightPaddle1.value);
|
|
}
|
|
|
|
/**
|
|
* Whether the Right Paddle 1 button was released since the last check.
|
|
*
|
|
* @return Whether the button was released since the last check.
|
|
*/
|
|
public boolean getRightPaddle1ButtonReleased() {
|
|
return getRawButtonReleased(Button.kRightPaddle1.value);
|
|
}
|
|
|
|
/**
|
|
* 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.
|
|
*/
|
|
public BooleanEvent rightPaddle1(EventLoop loop) {
|
|
return button(Button.kRightPaddle1.value, loop);
|
|
}
|
|
|
|
/**
|
|
* Read the value of the Left Paddle 1 button on the controller.
|
|
*
|
|
* @return The state of the button.
|
|
*/
|
|
public boolean getLeftPaddle1Button() {
|
|
return getRawButton(Button.kLeftPaddle1.value);
|
|
}
|
|
|
|
/**
|
|
* Whether the Left Paddle 1 button was pressed since the last check.
|
|
*
|
|
* @return Whether the button was pressed since the last check.
|
|
*/
|
|
public boolean getLeftPaddle1ButtonPressed() {
|
|
return getRawButtonPressed(Button.kLeftPaddle1.value);
|
|
}
|
|
|
|
/**
|
|
* Whether the Left Paddle 1 button was released since the last check.
|
|
*
|
|
* @return Whether the button was released since the last check.
|
|
*/
|
|
public boolean getLeftPaddle1ButtonReleased() {
|
|
return getRawButtonReleased(Button.kLeftPaddle1.value);
|
|
}
|
|
|
|
/**
|
|
* 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.
|
|
*/
|
|
public BooleanEvent leftPaddle1(EventLoop loop) {
|
|
return button(Button.kLeftPaddle1.value, loop);
|
|
}
|
|
|
|
/**
|
|
* Read the value of the Right Paddle 2 button on the controller.
|
|
*
|
|
* @return The state of the button.
|
|
*/
|
|
public boolean getRightPaddle2Button() {
|
|
return getRawButton(Button.kRightPaddle2.value);
|
|
}
|
|
|
|
/**
|
|
* Whether the Right Paddle 2 button was pressed since the last check.
|
|
*
|
|
* @return Whether the button was pressed since the last check.
|
|
*/
|
|
public boolean getRightPaddle2ButtonPressed() {
|
|
return getRawButtonPressed(Button.kRightPaddle2.value);
|
|
}
|
|
|
|
/**
|
|
* Whether the Right Paddle 2 button was released since the last check.
|
|
*
|
|
* @return Whether the button was released since the last check.
|
|
*/
|
|
public boolean getRightPaddle2ButtonReleased() {
|
|
return getRawButtonReleased(Button.kRightPaddle2.value);
|
|
}
|
|
|
|
/**
|
|
* 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.
|
|
*/
|
|
public BooleanEvent rightPaddle2(EventLoop loop) {
|
|
return button(Button.kRightPaddle2.value, loop);
|
|
}
|
|
|
|
/**
|
|
* Read the value of the Left Paddle 2 button on the controller.
|
|
*
|
|
* @return The state of the button.
|
|
*/
|
|
public boolean getLeftPaddle2Button() {
|
|
return getRawButton(Button.kLeftPaddle2.value);
|
|
}
|
|
|
|
/**
|
|
* Whether the Left Paddle 2 button was pressed since the last check.
|
|
*
|
|
* @return Whether the button was pressed since the last check.
|
|
*/
|
|
public boolean getLeftPaddle2ButtonPressed() {
|
|
return getRawButtonPressed(Button.kLeftPaddle2.value);
|
|
}
|
|
|
|
/**
|
|
* Whether the Left Paddle 2 button was released since the last check.
|
|
*
|
|
* @return Whether the button was released since the last check.
|
|
*/
|
|
public boolean getLeftPaddle2ButtonReleased() {
|
|
return getRawButtonReleased(Button.kLeftPaddle2.value);
|
|
}
|
|
|
|
/**
|
|
* 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.
|
|
*/
|
|
public BooleanEvent leftPaddle2(EventLoop loop) {
|
|
return button(Button.kLeftPaddle2.value, loop);
|
|
}
|
|
|
|
/**
|
|
* Read the value of the Touchpad button on the controller.
|
|
*
|
|
* @return The state of the button.
|
|
*/
|
|
public boolean getTouchpadButton() {
|
|
return getRawButton(Button.kTouchpad.value);
|
|
}
|
|
|
|
/**
|
|
* Whether the Touchpad button was pressed since the last check.
|
|
*
|
|
* @return Whether the button was pressed since the last check.
|
|
*/
|
|
public boolean getTouchpadButtonPressed() {
|
|
return getRawButtonPressed(Button.kTouchpad.value);
|
|
}
|
|
|
|
/**
|
|
* Whether the Touchpad button was released since the last check.
|
|
*
|
|
* @return Whether the button was released since the last check.
|
|
*/
|
|
public boolean getTouchpadButtonReleased() {
|
|
return getRawButtonReleased(Button.kTouchpad.value);
|
|
}
|
|
|
|
/**
|
|
* 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.
|
|
*/
|
|
public BooleanEvent touchpad(EventLoop loop) {
|
|
return button(Button.kTouchpad.value, loop);
|
|
}
|
|
|
|
/**
|
|
* Read the value of the Miscellaneous 2 button on the controller.
|
|
*
|
|
* @return The state of the button.
|
|
*/
|
|
public boolean getMisc2Button() {
|
|
return getRawButton(Button.kMisc2.value);
|
|
}
|
|
|
|
/**
|
|
* Whether the Miscellaneous 2 button was pressed since the last check.
|
|
*
|
|
* @return Whether the button was pressed since the last check.
|
|
*/
|
|
public boolean getMisc2ButtonPressed() {
|
|
return getRawButtonPressed(Button.kMisc2.value);
|
|
}
|
|
|
|
/**
|
|
* Whether the Miscellaneous 2 button was released since the last check.
|
|
*
|
|
* @return Whether the button was released since the last check.
|
|
*/
|
|
public boolean getMisc2ButtonReleased() {
|
|
return getRawButtonReleased(Button.kMisc2.value);
|
|
}
|
|
|
|
/**
|
|
* 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.
|
|
*/
|
|
public BooleanEvent misc2(EventLoop loop) {
|
|
return button(Button.kMisc2.value, loop);
|
|
}
|
|
|
|
/**
|
|
* Read the value of the Miscellaneous 3 button on the controller.
|
|
*
|
|
* @return The state of the button.
|
|
*/
|
|
public boolean getMisc3Button() {
|
|
return getRawButton(Button.kMisc3.value);
|
|
}
|
|
|
|
/**
|
|
* Whether the Miscellaneous 3 button was pressed since the last check.
|
|
*
|
|
* @return Whether the button was pressed since the last check.
|
|
*/
|
|
public boolean getMisc3ButtonPressed() {
|
|
return getRawButtonPressed(Button.kMisc3.value);
|
|
}
|
|
|
|
/**
|
|
* Whether the Miscellaneous 3 button was released since the last check.
|
|
*
|
|
* @return Whether the button was released since the last check.
|
|
*/
|
|
public boolean getMisc3ButtonReleased() {
|
|
return getRawButtonReleased(Button.kMisc3.value);
|
|
}
|
|
|
|
/**
|
|
* 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.
|
|
*/
|
|
public BooleanEvent misc3(EventLoop loop) {
|
|
return button(Button.kMisc3.value, loop);
|
|
}
|
|
|
|
/**
|
|
* Read the value of the Miscellaneous 4 button on the controller.
|
|
*
|
|
* @return The state of the button.
|
|
*/
|
|
public boolean getMisc4Button() {
|
|
return getRawButton(Button.kMisc4.value);
|
|
}
|
|
|
|
/**
|
|
* Whether the Miscellaneous 4 button was pressed since the last check.
|
|
*
|
|
* @return Whether the button was pressed since the last check.
|
|
*/
|
|
public boolean getMisc4ButtonPressed() {
|
|
return getRawButtonPressed(Button.kMisc4.value);
|
|
}
|
|
|
|
/**
|
|
* Whether the Miscellaneous 4 button was released since the last check.
|
|
*
|
|
* @return Whether the button was released since the last check.
|
|
*/
|
|
public boolean getMisc4ButtonReleased() {
|
|
return getRawButtonReleased(Button.kMisc4.value);
|
|
}
|
|
|
|
/**
|
|
* 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.
|
|
*/
|
|
public BooleanEvent misc4(EventLoop loop) {
|
|
return button(Button.kMisc4.value, loop);
|
|
}
|
|
|
|
/**
|
|
* Read the value of the Miscellaneous 5 button on the controller.
|
|
*
|
|
* @return The state of the button.
|
|
*/
|
|
public boolean getMisc5Button() {
|
|
return getRawButton(Button.kMisc5.value);
|
|
}
|
|
|
|
/**
|
|
* Whether the Miscellaneous 5 button was pressed since the last check.
|
|
*
|
|
* @return Whether the button was pressed since the last check.
|
|
*/
|
|
public boolean getMisc5ButtonPressed() {
|
|
return getRawButtonPressed(Button.kMisc5.value);
|
|
}
|
|
|
|
/**
|
|
* Whether the Miscellaneous 5 button was released since the last check.
|
|
*
|
|
* @return Whether the button was released since the last check.
|
|
*/
|
|
public boolean getMisc5ButtonReleased() {
|
|
return getRawButtonReleased(Button.kMisc5.value);
|
|
}
|
|
|
|
/**
|
|
* 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.
|
|
*/
|
|
public BooleanEvent misc5(EventLoop loop) {
|
|
return button(Button.kMisc5.value, loop);
|
|
}
|
|
|
|
/**
|
|
* Read the value of the Miscellaneous 6 button on the controller.
|
|
*
|
|
* @return The state of the button.
|
|
*/
|
|
public boolean getMisc6Button() {
|
|
return getRawButton(Button.kMisc6.value);
|
|
}
|
|
|
|
/**
|
|
* Whether the Miscellaneous 6 button was pressed since the last check.
|
|
*
|
|
* @return Whether the button was pressed since the last check.
|
|
*/
|
|
public boolean getMisc6ButtonPressed() {
|
|
return getRawButtonPressed(Button.kMisc6.value);
|
|
}
|
|
|
|
/**
|
|
* Whether the Miscellaneous 6 button was released since the last check.
|
|
*
|
|
* @return Whether the button was released since the last check.
|
|
*/
|
|
public boolean getMisc6ButtonReleased() {
|
|
return getRawButtonReleased(Button.kMisc6.value);
|
|
}
|
|
|
|
/**
|
|
* 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.
|
|
*/
|
|
public BooleanEvent misc6(EventLoop loop) {
|
|
return button(Button.kMisc6.value, loop);
|
|
}
|
|
|
|
private double getAxisForSendable(int axis) {
|
|
return DriverStation.getStickAxisIfAvailable(getPort(), axis).orElse(0.0);
|
|
}
|
|
|
|
private boolean getButtonForSendable(int button) {
|
|
return DriverStation.getStickButtonIfAvailable(getPort(), button).orElse(false);
|
|
}
|
|
|
|
@Override
|
|
public void initSendable(SendableBuilder builder) {
|
|
builder.setSmartDashboardType("HID");
|
|
builder.publishConstString("ControllerType", "Gamepad");
|
|
builder.addDoubleProperty(
|
|
"LeftTrigger Axis", () -> getAxisForSendable(Axis.kLeftTrigger.value), null);
|
|
builder.addDoubleProperty(
|
|
"RightTrigger Axis", () -> getAxisForSendable(Axis.kRightTrigger.value), null);
|
|
builder.addDoubleProperty("LeftX", () -> getAxisForSendable(Axis.kLeftX.value), null);
|
|
builder.addDoubleProperty("LeftY", () -> getAxisForSendable(Axis.kLeftY.value), null);
|
|
builder.addDoubleProperty("RightX", () -> getAxisForSendable(Axis.kRightX.value), null);
|
|
builder.addDoubleProperty("RightY", () -> getAxisForSendable(Axis.kRightY.value), null);
|
|
builder.addBooleanProperty(
|
|
"SouthFace", () -> getButtonForSendable(Button.kSouthFace.value), null);
|
|
builder.addBooleanProperty(
|
|
"EastFace", () -> getButtonForSendable(Button.kEastFace.value), null);
|
|
builder.addBooleanProperty(
|
|
"WestFace", () -> getButtonForSendable(Button.kWestFace.value), null);
|
|
builder.addBooleanProperty(
|
|
"NorthFace", () -> getButtonForSendable(Button.kNorthFace.value), null);
|
|
builder.addBooleanProperty("Back", () -> getButtonForSendable(Button.kBack.value), null);
|
|
builder.addBooleanProperty("Guide", () -> getButtonForSendable(Button.kGuide.value), null);
|
|
builder.addBooleanProperty("Start", () -> getButtonForSendable(Button.kStart.value), null);
|
|
builder.addBooleanProperty(
|
|
"LeftStick", () -> getButtonForSendable(Button.kLeftStick.value), null);
|
|
builder.addBooleanProperty(
|
|
"RightStick", () -> getButtonForSendable(Button.kRightStick.value), null);
|
|
builder.addBooleanProperty(
|
|
"LeftBumper", () -> getButtonForSendable(Button.kLeftBumper.value), null);
|
|
builder.addBooleanProperty(
|
|
"RightBumper", () -> getButtonForSendable(Button.kRightBumper.value), null);
|
|
builder.addBooleanProperty("DpadUp", () -> getButtonForSendable(Button.kDpadUp.value), null);
|
|
builder.addBooleanProperty(
|
|
"DpadDown", () -> getButtonForSendable(Button.kDpadDown.value), null);
|
|
builder.addBooleanProperty(
|
|
"DpadLeft", () -> getButtonForSendable(Button.kDpadLeft.value), null);
|
|
builder.addBooleanProperty(
|
|
"DpadRight", () -> getButtonForSendable(Button.kDpadRight.value), null);
|
|
builder.addBooleanProperty("Misc1", () -> getButtonForSendable(Button.kMisc1.value), null);
|
|
builder.addBooleanProperty(
|
|
"RightPaddle1", () -> getButtonForSendable(Button.kRightPaddle1.value), null);
|
|
builder.addBooleanProperty(
|
|
"LeftPaddle1", () -> getButtonForSendable(Button.kLeftPaddle1.value), null);
|
|
builder.addBooleanProperty(
|
|
"RightPaddle2", () -> getButtonForSendable(Button.kRightPaddle2.value), null);
|
|
builder.addBooleanProperty(
|
|
"LeftPaddle2", () -> getButtonForSendable(Button.kLeftPaddle2.value), null);
|
|
builder.addBooleanProperty(
|
|
"Touchpad", () -> getButtonForSendable(Button.kTouchpad.value), null);
|
|
builder.addBooleanProperty("Misc2", () -> getButtonForSendable(Button.kMisc2.value), null);
|
|
builder.addBooleanProperty("Misc3", () -> getButtonForSendable(Button.kMisc3.value), null);
|
|
builder.addBooleanProperty("Misc4", () -> getButtonForSendable(Button.kMisc4.value), null);
|
|
builder.addBooleanProperty("Misc5", () -> getButtonForSendable(Button.kMisc5.value), null);
|
|
builder.addBooleanProperty("Misc6", () -> getButtonForSendable(Button.kMisc6.value), null);
|
|
}
|
|
}
|