CommandNiDsXboxController.hpp

Go to the documentation of this file.

// 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.
 
// THIS FILE WAS AUTO-GENERATED BY ./commandsv2/generate_hids.py. DO NOT MODIFY
 
#pragma once
 
#include "wpi/driverstation/NiDsXboxController.hpp"
 
#include "wpi/commands2/button/Trigger.hpp"
#include "wpi/commands2/CommandScheduler.hpp"
#include "wpi/commands2/button/CommandGenericHID.hpp"
 
namespace wpi::cmd {
/**
 * A version of {@link wpi::NiDsXboxController} with {@link Trigger} factories for
 * command-based.
 *
 * @see wpi::NiDsXboxController
 */
class CommandNiDsXboxController : public CommandGenericHID {
 public:
  /**
   * Construct an instance of a controller.
   *
   * @param port The port index on the Driver Station that the controller is
   * plugged into.
   */
  explicit CommandNiDsXboxController(int port);
 
  /**
   * Get the underlying GenericHID object.
   *
   * @return the wrapped GenericHID object
   */
  wpi::NiDsXboxController& GetHID();
 
  /**
   * Constructs a Trigger instance around the A button's
   * digital signal.
   *
   * @param loop the event loop instance to attach the event to. Defaults to the
   * CommandScheduler's default loop.
   * @return a Trigger instance representing the A button's
   * digital signal attached to the given loop.
   */
  Trigger A(wpi::EventLoop* loop = CommandScheduler::GetInstance()
                                                .GetDefaultButtonLoop()) const;
 
  /**
   * Constructs a Trigger instance around the B button's
   * digital signal.
   *
   * @param loop the event loop instance to attach the event to. Defaults to the
   * CommandScheduler's default loop.
   * @return a Trigger instance representing the B button's
   * digital signal attached to the given loop.
   */
  Trigger B(wpi::EventLoop* loop = CommandScheduler::GetInstance()
                                                .GetDefaultButtonLoop()) const;
 
  /**
   * Constructs a Trigger instance around the X button's
   * digital signal.
   *
   * @param loop the event loop instance to attach the event to. Defaults to the
   * CommandScheduler's default loop.
   * @return a Trigger instance representing the X button's
   * digital signal attached to the given loop.
   */
  Trigger X(wpi::EventLoop* loop = CommandScheduler::GetInstance()
                                                .GetDefaultButtonLoop()) const;
 
  /**
   * Constructs a Trigger instance around the Y button's
   * digital signal.
   *
   * @param loop the event loop instance to attach the event to. Defaults to the
   * CommandScheduler's default loop.
   * @return a Trigger instance representing the Y button's
   * digital signal attached to the given loop.
   */
  Trigger Y(wpi::EventLoop* loop = CommandScheduler::GetInstance()
                                                .GetDefaultButtonLoop()) const;
 
  /**
   * Constructs a Trigger instance around the left bumper button's
   * digital signal.
   *
   * @param loop the event loop instance to attach the event to. Defaults to the
   * CommandScheduler's default loop.
   * @return a Trigger instance representing the left bumper button's
   * digital signal attached to the given loop.
   */
  Trigger LeftBumper(wpi::EventLoop* loop = CommandScheduler::GetInstance()
                                                .GetDefaultButtonLoop()) const;
 
  /**
   * Constructs a Trigger instance around the right bumper button's
   * digital signal.
   *
   * @param loop the event loop instance to attach the event to. Defaults to the
   * CommandScheduler's default loop.
   * @return a Trigger instance representing the right bumper button's
   * digital signal attached to the given loop.
   */
  Trigger RightBumper(wpi::EventLoop* loop = CommandScheduler::GetInstance()
                                                .GetDefaultButtonLoop()) const;
 
  /**
   * Constructs a Trigger instance around the back button's
   * digital signal.
   *
   * @param loop the event loop instance to attach the event to. Defaults to the
   * CommandScheduler's default loop.
   * @return a Trigger instance representing the back button's
   * digital signal attached to the given loop.
   */
  Trigger Back(wpi::EventLoop* loop = CommandScheduler::GetInstance()
                                                .GetDefaultButtonLoop()) const;
 
  /**
   * Constructs a Trigger instance around the start button's
   * digital signal.
   *
   * @param loop the event loop instance to attach the event to. Defaults to the
   * CommandScheduler's default loop.
   * @return a Trigger instance representing the start button's
   * digital signal attached to the given loop.
   */
  Trigger Start(wpi::EventLoop* loop = CommandScheduler::GetInstance()
                                                .GetDefaultButtonLoop()) const;
 
  /**
   * Constructs a Trigger instance around the left stick button's
   * digital signal.
   *
   * @param loop the event loop instance to attach the event to. Defaults to the
   * CommandScheduler's default loop.
   * @return a Trigger instance representing the left stick button's
   * digital signal attached to the given loop.
   */
  Trigger LeftStick(wpi::EventLoop* loop = CommandScheduler::GetInstance()
                                                .GetDefaultButtonLoop()) const;
 
  /**
   * Constructs a Trigger instance around the right stick button's
   * digital signal.
   *
   * @param loop the event loop instance to attach the event to. Defaults to the
   * CommandScheduler's default loop.
   * @return a Trigger instance representing the right stick button's
   * digital signal attached to the given loop.
   */
  Trigger RightStick(wpi::EventLoop* loop = CommandScheduler::GetInstance()
                                                .GetDefaultButtonLoop()) const;
 
  /**
   * Constructs a Trigger 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 Trigger to be
   * true. This value should be in the range [0, 1] where 0 is the unpressed
   * state of the axis. Defaults to 0.5.
   * @param loop the event loop instance to attach the Trigger to. Defaults to
   * the CommandScheduler's default loop.
   * @return a Trigger instance that is true when the left trigger's axis
   * exceeds the provided threshold, attached to the given loop
   */
  Trigger LeftTrigger(double threshold = 0.5,
                      wpi::EventLoop* loop = CommandScheduler::GetInstance()
                                                 .GetDefaultButtonLoop()) const;
 
  /**
   * Constructs a Trigger 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 Trigger to be
   * true. This value should be in the range [0, 1] where 0 is the unpressed
   * state of the axis. Defaults to 0.5.
   * @param loop the event loop instance to attach the Trigger to. Defaults to
   * the CommandScheduler's default loop.
   * @return a Trigger instance that is true when the right trigger's axis
   * exceeds the provided threshold, attached to the given loop
   */
  Trigger RightTrigger(double threshold = 0.5,
                      wpi::EventLoop* loop = CommandScheduler::GetInstance()
                                                 .GetDefaultButtonLoop()) const;
 
  /**
   * Get the X axis value of left side of the controller. Right is positive.
   *
   * @return The axis value.
   */
  double GetLeftX() const;
 
  /**
   * Get the X axis value of right side of the controller. Right is positive.
   *
   * @return The axis value.
   */
  double GetRightX() const;
 
  /**
   * Get the Y axis value of left side of the controller. Back is positive.
   *
   * @return The axis value.
   */
  double GetLeftY() const;
 
  /**
   * Get the Y axis value of right side of the controller. Back is positive.
   *
   * @return The axis value.
   */
  double GetRightY() const;
 
  /**
   * Get the left trigger axis value of the controller. Note that this axis is bound
   * to the range of [0, 1] as opposed to the usual [-1, 1].
   *
   * @return The axis value.
   */
  double GetLeftTriggerAxis() const;
 
  /**
   * Get the right trigger axis value of the controller. Note that this axis is bound
   * to the range of [0, 1] as opposed to the usual [-1, 1].
   *
   * @return The axis value.
   */
  double GetRightTriggerAxis() const;
 
 private:
  wpi::NiDsXboxController m_hid;
};
}  // namespace wpi::cmd