mirror of
https://github.com/wpilibsuite/allwpilib
synced 2026-06-23 01:21:42 +00:00
f9bece2ffb
LiveWindow.updateValues() is now called from IterativeRobotBase on every loop iteration. Telemetry for all WPILib classes is enabled by default; it can be disabled for specific classes using LiveWindow.disableTelemetry(), or all telemetry can be disabled using LiveWindow.disableAllTelemetry(). This necessitated changing the hook methodology into other classes to be more property-based rather than each class providing multiple functions. This had the benefit of reducing boilerplate and increasing consistency. - Remove NamedSendable, add name to Sendable. - Provide SendableBase abstract class. - Deprecate LiveWindow addSensor/addActuator interfaces. - Add LiveWindow support to drive classes. - Add addChild() helper functions to Subsystem. - Fix inheritance hierarchy. Now only sensors inherit from SensorBase. Other devices inherit from some combination of SendableBase, ErrorBase, or nothing.
50 lines
1.6 KiB
C++
50 lines
1.6 KiB
C++
/*----------------------------------------------------------------------------*/
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/* Copyright (c) 2011-2017 FIRST. 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 <atomic>
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#include "SmartDashboard/SendableBase.h"
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namespace frc {
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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 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 of the Trigger class.
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*/
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class Trigger : public SendableBase {
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public:
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Trigger() = default;
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~Trigger() override = 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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void InitSendable(SendableBuilder& builder) override;
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private:
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std::atomic_bool m_sendablePressed{false};
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};
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} // namespace frc
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