Class CommandGamepad

java.lang.Object
org.wpilib.command2.button.CommandGenericHID
org.wpilib.command2.button.CommandGamepad
public class CommandGamepad extends CommandGenericHID
A version of Gamepad with Trigger factories for command-based.
See Also:

  • Constructor Details

    • CommandGamepad

      public CommandGamepad(int port)
      Construct an instance of a controller.
      Parameters:
      port - The port index on the Driver Station that the controller is plugged into.

  • Method Details

    • getHID

      public Gamepad getHID()
      Get the underlying GenericHID object.
      Overrides:
      getHID in class CommandGenericHID
      Returns:
      the wrapped GenericHID object

    • button

      public Trigger button(Gamepad.Button button)
      Constructs an event instance around this button's digital signal.
      Parameters:
      button - the button
      Returns:
      an event instance representing the button's digital signal attached to the default scheduler button loop.
      See Also:

    • button

      public Trigger button(Gamepad.Button button, EventLoop loop)
      Constructs an event instance around this button's digital signal.
      Parameters:
      button - the button
      loop - the event loop instance to attach the event to.
      Returns:
      an event instance representing the button's digital signal attached to the given loop.

    • southFace

      public Trigger southFace()
      Constructs a Trigger instance around the South Face button's digital signal.
      Returns:
      a Trigger instance representing the South Face button's digital signal attached to the default scheduler button loop.
      See Also:

    • southFace

      public Trigger southFace(EventLoop loop)
      Constructs a Trigger instance around the South Face button's digital signal.
      Parameters:
      loop - the event loop instance to attach the event to.
      Returns:
      a Trigger instance representing the South Face button's digital signal attached to the given loop.

    • eastFace

      public Trigger eastFace()
      Constructs a Trigger instance around the East Face button's digital signal.
      Returns:
      a Trigger instance representing the East Face button's digital signal attached to the default scheduler button loop.
      See Also:

    • eastFace

      public Trigger eastFace(EventLoop loop)
      Constructs a Trigger instance around the East Face button's digital signal.
      Parameters:
      loop - the event loop instance to attach the event to.
      Returns:
      a Trigger instance representing the East Face button's digital signal attached to the given loop.

    • westFace

      public Trigger westFace()
      Constructs a Trigger instance around the West Face button's digital signal.
      Returns:
      a Trigger instance representing the West Face button's digital signal attached to the default scheduler button loop.
      See Also:

    • westFace

      public Trigger westFace(EventLoop loop)
      Constructs a Trigger instance around the West Face button's digital signal.
      Parameters:
      loop - the event loop instance to attach the event to.
      Returns:
      a Trigger instance representing the West Face button's digital signal attached to the given loop.

    • northFace

      public Trigger northFace()
      Constructs a Trigger instance around the North Face button's digital signal.
      Returns:
      a Trigger instance representing the North Face button's digital signal attached to the default scheduler button loop.
      See Also:

    • northFace

      public Trigger northFace(EventLoop loop)
      Constructs a Trigger instance around the North Face button's digital signal.
      Parameters:
      loop - the event loop instance to attach the event to.
      Returns:
      a Trigger instance representing the North Face button's digital signal attached to the given loop.

    • back

      public Trigger back()
      Constructs a Trigger instance around the Back button's digital signal.
      Returns:
      a Trigger instance representing the Back button's digital signal attached to the default scheduler button loop.
      See Also:

    • back

      public Trigger back(EventLoop loop)
      Constructs a Trigger instance around the Back button's digital signal.
      Parameters:
      loop - the event loop instance to attach the event to.
      Returns:
      a Trigger instance representing the Back button's digital signal attached to the given loop.

    • guide

      public Trigger guide()
      Constructs a Trigger instance around the Guide button's digital signal.
      Returns:
      a Trigger instance representing the Guide button's digital signal attached to the default scheduler button loop.
      See Also:

    • guide

      public Trigger guide(EventLoop loop)
      Constructs a Trigger instance around the Guide button's digital signal.
      Parameters:
      loop - the event loop instance to attach the event to.
      Returns:
      a Trigger instance representing the Guide button's digital signal attached to the given loop.

    • start

      public Trigger start()
      Constructs a Trigger instance around the Start button's digital signal.
      Returns:
      a Trigger instance representing the Start button's digital signal attached to the default scheduler button loop.
      See Also:

    • start

      public Trigger start(EventLoop loop)
      Constructs a Trigger instance around the Start button's digital signal.
      Parameters:
      loop - the event loop instance to attach the event to.
      Returns:
      a Trigger instance representing the Start button's digital signal attached to the given loop.

    • leftStick

      public Trigger leftStick()
      Constructs a Trigger instance around the left stick button's digital signal.
      Returns:
      a Trigger instance representing the left stick button's digital signal attached to the default scheduler button loop.
      See Also:

    • leftStick

      public Trigger leftStick(EventLoop loop)
      Constructs a Trigger instance around the left stick button's digital signal.
      Parameters:
      loop - the event loop instance to attach the event to.
      Returns:
      a Trigger instance representing the left stick button's digital signal attached to the given loop.

    • rightStick

      public Trigger rightStick()
      Constructs a Trigger instance around the right stick button's digital signal.
      Returns:
      a Trigger instance representing the right stick button's digital signal attached to the default scheduler button loop.
      See Also:

    • rightStick

      public Trigger rightStick(EventLoop loop)
      Constructs a Trigger instance around the right stick button's digital signal.
      Parameters:
      loop - the event loop instance to attach the event to.
      Returns:
      a Trigger instance representing the right stick button's digital signal attached to the given loop.

    • leftBumper

      public Trigger leftBumper()
      Constructs a Trigger instance around the right bumper button's digital signal.
      Returns:
      a Trigger instance representing the right bumper button's digital signal attached to the default scheduler button loop.
      See Also:

    • leftBumper

      public Trigger leftBumper(EventLoop loop)
      Constructs a Trigger instance around the right bumper button's digital signal.
      Parameters:
      loop - the event loop instance to attach the event to.
      Returns:
      a Trigger instance representing the right bumper button's digital signal attached to the given loop.

    • rightBumper

      public Trigger rightBumper()
      Constructs a Trigger instance around the right bumper button's digital signal.
      Returns:
      a Trigger instance representing the right bumper button's digital signal attached to the default scheduler button loop.
      See Also:

    • rightBumper

      public Trigger rightBumper(EventLoop loop)
      Constructs a Trigger instance around the right bumper button's digital signal.
      Parameters:
      loop - the event loop instance to attach the event to.
      Returns:
      a Trigger instance representing the right bumper button's digital signal attached to the given loop.

    • dpadUp

      public Trigger dpadUp()
      Constructs a Trigger instance around the D-pad up button's digital signal.
      Returns:
      a Trigger instance representing the D-pad up button's digital signal attached to the default scheduler button loop.
      See Also:

    • dpadUp

      public Trigger dpadUp(EventLoop loop)
      Constructs a Trigger instance around the D-pad up button's digital signal.
      Parameters:
      loop - the event loop instance to attach the event to.
      Returns:
      a Trigger instance representing the D-pad up button's digital signal attached to the given loop.

    • dpadDown

      public Trigger dpadDown()
      Constructs a Trigger instance around the D-pad down button's digital signal.
      Returns:
      a Trigger instance representing the D-pad down button's digital signal attached to the default scheduler button loop.
      See Also:

    • dpadDown

      public Trigger dpadDown(EventLoop loop)
      Constructs a Trigger instance around the D-pad down button's digital signal.
      Parameters:
      loop - the event loop instance to attach the event to.
      Returns:
      a Trigger instance representing the D-pad down button's digital signal attached to the given loop.

    • dpadLeft

      public Trigger dpadLeft()
      Constructs a Trigger instance around the D-pad left button's digital signal.
      Returns:
      a Trigger instance representing the D-pad left button's digital signal attached to the default scheduler button loop.
      See Also:

    • dpadLeft

      public Trigger dpadLeft(EventLoop loop)
      Constructs a Trigger instance around the D-pad left button's digital signal.
      Parameters:
      loop - the event loop instance to attach the event to.
      Returns:
      a Trigger instance representing the D-pad left button's digital signal attached to the given loop.

    • dpadRight

      public Trigger dpadRight()
      Constructs a Trigger instance around the D-pad right button's digital signal.
      Returns:
      a Trigger instance representing the D-pad right button's digital signal attached to the default scheduler button loop.
      See Also:

    • dpadRight

      public Trigger dpadRight(EventLoop loop)
      Constructs a Trigger instance around the D-pad right button's digital signal.
      Parameters:
      loop - the event loop instance to attach the event to.
      Returns:
      a Trigger instance representing the D-pad right button's digital signal attached to the given loop.

    • misc1

      public Trigger misc1()
      Constructs a Trigger instance around the Miscellaneous 1 button's digital signal.
      Returns:
      a Trigger instance representing the Miscellaneous 1 button's digital signal attached to the default scheduler button loop.
      See Also:

    • misc1

      public Trigger misc1(EventLoop loop)
      Constructs a Trigger instance around the Miscellaneous 1 button's digital signal.
      Parameters:
      loop - the event loop instance to attach the event to.
      Returns:
      a Trigger instance representing the Miscellaneous 1 button's digital signal attached to the given loop.

    • rightPaddle1

      public Trigger rightPaddle1()
      Constructs a Trigger instance around the Right Paddle 1 button's digital signal.
      Returns:
      a Trigger instance representing the Right Paddle 1 button's digital signal attached to the default scheduler button loop.
      See Also:

    • rightPaddle1

      public Trigger rightPaddle1(EventLoop loop)
      Constructs a Trigger instance around the Right Paddle 1 button's digital signal.
      Parameters:
      loop - the event loop instance to attach the event to.
      Returns:
      a Trigger instance representing the Right Paddle 1 button's digital signal attached to the given loop.

    • leftPaddle1

      public Trigger leftPaddle1()
      Constructs a Trigger instance around the Left Paddle 1 button's digital signal.
      Returns:
      a Trigger instance representing the Left Paddle 1 button's digital signal attached to the default scheduler button loop.
      See Also:

    • leftPaddle1

      public Trigger leftPaddle1(EventLoop loop)
      Constructs a Trigger instance around the Left Paddle 1 button's digital signal.
      Parameters:
      loop - the event loop instance to attach the event to.
      Returns:
      a Trigger instance representing the Left Paddle 1 button's digital signal attached to the given loop.

    • rightPaddle2

      public Trigger rightPaddle2()
      Constructs a Trigger instance around the Right Paddle 2 button's digital signal.
      Returns:
      a Trigger instance representing the Right Paddle 2 button's digital signal attached to the default scheduler button loop.
      See Also:

    • rightPaddle2

      public Trigger rightPaddle2(EventLoop loop)
      Constructs a Trigger instance around the Right Paddle 2 button's digital signal.
      Parameters:
      loop - the event loop instance to attach the event to.
      Returns:
      a Trigger instance representing the Right Paddle 2 button's digital signal attached to the given loop.

    • leftPaddle2

      public Trigger leftPaddle2()
      Constructs a Trigger instance around the Left Paddle 2 button's digital signal.
      Returns:
      a Trigger instance representing the Left Paddle 2 button's digital signal attached to the default scheduler button loop.
      See Also:

    • leftPaddle2

      public Trigger leftPaddle2(EventLoop loop)
      Constructs a Trigger instance around the Left Paddle 2 button's digital signal.
      Parameters:
      loop - the event loop instance to attach the event to.
      Returns:
      a Trigger instance representing the Left Paddle 2 button's digital signal attached to the given loop.

    • touchpad

      public Trigger touchpad()
      Constructs a Trigger instance around the Touchpad button's digital signal.
      Returns:
      a Trigger instance representing the Touchpad button's digital signal attached to the default scheduler button loop.
      See Also:

    • touchpad

      public Trigger touchpad(EventLoop loop)
      Constructs a Trigger instance around the Touchpad button's digital signal.
      Parameters:
      loop - the event loop instance to attach the event to.
      Returns:
      a Trigger instance representing the Touchpad button's digital signal attached to the given loop.

    • misc2

      public Trigger misc2()
      Constructs a Trigger instance around the Miscellaneous 2 button's digital signal.
      Returns:
      a Trigger instance representing the Miscellaneous 2 button's digital signal attached to the default scheduler button loop.
      See Also:

    • misc2

      public Trigger misc2(EventLoop loop)
      Constructs a Trigger instance around the Miscellaneous 2 button's digital signal.
      Parameters:
      loop - the event loop instance to attach the event to.
      Returns:
      a Trigger instance representing the Miscellaneous 2 button's digital signal attached to the given loop.

    • misc3

      public Trigger misc3()
      Constructs a Trigger instance around the Miscellaneous 3 button's digital signal.
      Returns:
      a Trigger instance representing the Miscellaneous 3 button's digital signal attached to the default scheduler button loop.
      See Also:

    • misc3

      public Trigger misc3(EventLoop loop)
      Constructs a Trigger instance around the Miscellaneous 3 button's digital signal.
      Parameters:
      loop - the event loop instance to attach the event to.
      Returns:
      a Trigger instance representing the Miscellaneous 3 button's digital signal attached to the given loop.

    • misc4

      public Trigger misc4()
      Constructs a Trigger instance around the Miscellaneous 4 button's digital signal.
      Returns:
      a Trigger instance representing the Miscellaneous 4 button's digital signal attached to the default scheduler button loop.
      See Also:

    • misc4

      public Trigger misc4(EventLoop loop)
      Constructs a Trigger instance around the Miscellaneous 4 button's digital signal.
      Parameters:
      loop - the event loop instance to attach the event to.
      Returns:
      a Trigger instance representing the Miscellaneous 4 button's digital signal attached to the given loop.

    • misc5

      public Trigger misc5()
      Constructs a Trigger instance around the Miscellaneous 5 button's digital signal.
      Returns:
      a Trigger instance representing the Miscellaneous 5 button's digital signal attached to the default scheduler button loop.
      See Also:

    • misc5

      public Trigger misc5(EventLoop loop)
      Constructs a Trigger instance around the Miscellaneous 5 button's digital signal.
      Parameters:
      loop - the event loop instance to attach the event to.
      Returns:
      a Trigger instance representing the Miscellaneous 5 button's digital signal attached to the given loop.

    • misc6

      public Trigger misc6()
      Constructs a Trigger instance around the Miscellaneous 6 button's digital signal.
      Returns:
      a Trigger instance representing the Miscellaneous 6 button's digital signal attached to the default scheduler button loop.
      See Also:

    • misc6

      public Trigger misc6(EventLoop loop)
      Constructs a Trigger instance around the Miscellaneous 6 button's digital signal.
      Parameters:
      loop - the event loop instance to attach the event to.
      Returns:
      a Trigger instance representing the Miscellaneous 6 button's digital signal attached to the given loop.

    • leftTrigger

      public Trigger leftTrigger(double threshold, EventLoop loop)
      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 threshold.
      Parameters:
      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.
      loop - the event loop instance to attach the Trigger to.
      Returns:
      a Trigger instance that is true when the left trigger's axis exceeds the provided threshold, attached to the given event loop

    • leftTrigger

      public Trigger leftTrigger(double threshold)
      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 threshold.
      Parameters:
      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.
      Returns:
      a Trigger instance that is true when the left trigger's axis exceeds the provided threshold, attached to the default scheduler button loop.

    • leftTrigger

      public Trigger leftTrigger()
      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 0.5.
      Returns:
      a Trigger instance that is true when the left trigger's axis exceeds 0.5, attached to the default scheduler button loop.

    • rightTrigger

      public Trigger rightTrigger(double threshold, EventLoop loop)
      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 threshold.
      Parameters:
      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.
      loop - the event loop instance to attach the Trigger to.
      Returns:
      a Trigger instance that is true when the right trigger's axis exceeds the provided threshold, attached to the given event loop

    • rightTrigger

      public Trigger rightTrigger(double threshold)
      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 threshold.
      Parameters:
      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.
      Returns:
      a Trigger instance that is true when the right trigger's axis exceeds the provided threshold, attached to the default scheduler button loop.

    • rightTrigger

      public Trigger rightTrigger()
      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 0.5.
      Returns:
      a Trigger instance that is true when the right trigger's axis exceeds 0.5, attached to the default scheduler button loop.

    • axisLessThan

      public Trigger axisLessThan(Gamepad.Axis axis, double threshold)
      Constructs a Trigger instance that is true when the axis value is less than threshold, attached to the default command scheduler button loop.
      Parameters:
      axis - The axis to read
      threshold - The value below which this trigger should return true.
      Returns:
      a Trigger instance that is true when the axis value is less than the provided threshold.

    • axisLessThan

      public Trigger axisLessThan(Gamepad.Axis axis, double threshold, EventLoop loop)
      Constructs a Trigger instance that is true when the axis value is less than threshold, attached to the given loop.
      Parameters:
      axis - The axis to read
      threshold - The value below which this trigger should return true.
      loop - the event loop instance to attach the trigger to
      Returns:
      a Trigger instance that is true when the axis value is less than the provided threshold.

    • axisGreaterThan

      public Trigger axisGreaterThan(Gamepad.Axis axis, double threshold)
      Constructs a Trigger instance that is true when the axis value is less than threshold, attached to the default command scheduler button loop.
      Parameters:
      axis - The axis to read
      threshold - The value above which this trigger should return true.
      Returns:
      a Trigger instance that is true when the axis value is greater than the provided threshold.

    • axisGreaterThan

      public Trigger axisGreaterThan(Gamepad.Axis axis, double threshold, EventLoop loop)
      Constructs a Trigger instance that is true when the axis value is greater than threshold, attached to the given loop.
      Parameters:
      axis - The axis to read
      threshold - The value above which this trigger should return true.
      loop - the event loop instance to attach the trigger to.
      Returns:
      a Trigger instance that is true when the axis value is greater than the provided threshold.

    • axisMagnitudeGreaterThan

      public Trigger axisMagnitudeGreaterThan(Gamepad.Axis axis, double threshold, EventLoop loop)
      Constructs a Trigger instance that is true when the axis magnitude value is greater than threshold, attached to the given loop.
      Parameters:
      axis - The axis to read
      threshold - The value above which this trigger should return true.
      loop - the event loop instance to attach the trigger to.
      Returns:
      a Trigger instance that is true when the axis magnitude value is greater than the provided threshold.

    • axisMagnitudeGreaterThan

      public Trigger axisMagnitudeGreaterThan(Gamepad.Axis axis, double threshold)
      Constructs a Trigger instance that is true when the axis magnitude value is greater than threshold, attached to the default command scheduler button loop.
      Parameters:
      axis - The axis to read
      threshold - The value above which this trigger should return true.
      Returns:
      a Trigger instance that is true when the deadbanded axis value is active (non-zero).

    • getAxis

      public double getAxis(Gamepad.Axis axis)
      Get the value of the axis.
      Parameters:
      axis - The axis to read
      Returns:
      The value of the axis.

    • getLeftX

      public double getLeftX()
      Get the X axis value of left side of the controller. Right is positive.
      Returns:
      The axis value.

    • getLeftY

      public double getLeftY()
      Get the Y axis value of left side of the controller. Back is positive.
      Returns:
      The axis value.

    • getRightX

      public double getRightX()
      Get the X axis value of right side of the controller. Right is positive.
      Returns:
      The axis value.

    • getRightY

      public double getRightY()
      Get the Y axis value of right side of the controller. Back is positive.
      Returns:
      The axis value.

    • getLeftTriggerAxis

      public double getLeftTriggerAxis()
      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].
      Returns:
      The axis value.

    • getRightTriggerAxis

      public double getRightTriggerAxis()
      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].
      Returns:
      The axis value.