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https://github.com/wpilibsuite/allwpilib
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62812faf62
* Replaced include guards with #pragma once * All source files now have exactly one newline appended Some files had either two newlines at the end or none (which isn't POSIX compliant). This patch fixes that.
51 lines
1.7 KiB
C++
51 lines
1.7 KiB
C++
/*----------------------------------------------------------------------------*/
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/* Copyright (c) FIRST 2011-2016. All Rights Reserved. */
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/* Open Source Software - may be modified and shared by FRC teams. The code */
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/* must be accompanied by the FIRST BSD license file in the root directory of */
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/* the project. */
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/*----------------------------------------------------------------------------*/
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#pragma once
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#include <memory>
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#include "SmartDashboard/Sendable.h"
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class Command;
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/**
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* This class provides an easy way to link commands to inputs.
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*
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* It is very easy to link a polled input to a command. For instance, you could
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* link the trigger button of a joystick to a "score" command or an encoder
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* reaching
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* a particular value.
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*
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* It is encouraged that teams write a subclass of Trigger if they want to have
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* something unusual (for instance, if they want to react to the user holding
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* a button while the robot is reading a certain sensor input). For this, they
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* only have to write the {@link Trigger#Get()} method to get the full
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* functionality
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* of the Trigger class.
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*
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* @author Brad Miller, Joe Grinstead
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*/
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class Trigger : public Sendable {
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public:
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Trigger() = default;
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virtual ~Trigger() = default;
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bool Grab();
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virtual bool Get() = 0;
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void WhenActive(Command* command);
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void WhileActive(Command* command);
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void WhenInactive(Command* command);
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void CancelWhenActive(Command* command);
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void ToggleWhenActive(Command* command);
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virtual void InitTable(std::shared_ptr<ITable> table);
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virtual std::shared_ptr<ITable> GetTable() const;
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virtual std::string GetSmartDashboardType() const;
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protected:
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std::shared_ptr<ITable> m_table;
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};
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