Package org.wpilib.commands3.button

Class CommandXboxController

java.lang.Object
org.wpilib.commands3.button.CommandGenericHID
org.wpilib.commands3.button.CommandXboxController
public class CommandXboxController extends CommandGenericHID
A version of XboxController with Trigger factories for command-based.
See Also:

  • Constructor Details

    • CommandXboxController

      public CommandXboxController(int port)
      Construct an instance of a controller. Commands bound to buttons on the controller will be scheduled on the default scheduler using its default event loop.
      Parameters:
      port - The port index on the Driver Station that the controller is plugged into.

    • CommandXboxController

      public CommandXboxController(Scheduler scheduler, int port)
      Construct an instance of a controller. Commands bound to buttons on the controller will be scheduled on the given scheduler using its default event loop.
      Parameters:
      scheduler - The scheduler that should execute the triggered commands.
      port - The port index on the Driver Station that the controller is plugged into.

  • Method Details

    • getHID

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

    • a

      public Trigger a()
      Constructs a Trigger instance around the A button's digital signal.
      Returns:
      a Trigger instance representing the A button's digital signal attached to the default scheduler event loop on the scheduler passed to the controller's constructor, or the default scheduler if a scheduler was not explicitly provided.
      See Also:

    • a

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

    • b

      public Trigger b()
      Constructs a Trigger instance around the B button's digital signal.
      Returns:
      a Trigger instance representing the B button's digital signal attached to the default scheduler event loop on the scheduler passed to the controller's constructor, or the default scheduler if a scheduler was not explicitly provided.
      See Also:

    • b

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

    • x

      public Trigger x()
      Constructs a Trigger instance around the X button's digital signal.
      Returns:
      a Trigger instance representing the X button's digital signal attached to the default scheduler event loop on the scheduler passed to the controller's constructor, or the default scheduler if a scheduler was not explicitly provided.
      See Also:

    • x

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

    • y

      public Trigger y()
      Constructs a Trigger instance around the Y button's digital signal.
      Returns:
      a Trigger instance representing the Y button's digital signal attached to the default scheduler event loop on the scheduler passed to the controller's constructor, or the default scheduler if a scheduler was not explicitly provided.
      See Also:

    • y

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

    • leftBumper

      public Trigger leftBumper()
      Constructs a Trigger instance around the left bumper button's digital signal.
      Returns:
      a Trigger instance representing the left bumper button's digital signal attached to the default scheduler event loop on the scheduler passed to the controller's constructor, or the default scheduler if a scheduler was not explicitly provided.
      See Also:

    • leftBumper

      public Trigger leftBumper(EventLoop loop)
      Constructs a Trigger instance around the left bumper button's digital signal.
      Parameters:
      loop - the event loop instance to attach the event to.
      Returns:
      a Trigger instance representing the left 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 event loop on the scheduler passed to the controller's constructor, or the default scheduler if a scheduler was not explicitly provided.
      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.

    • 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 event loop on the scheduler passed to the controller's constructor, or the default scheduler if a scheduler was not explicitly provided.
      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.

    • 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 event loop on the scheduler passed to the controller's constructor, or the default scheduler if a scheduler was not explicitly provided.
      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 event loop on the scheduler passed to the controller's constructor, or the default scheduler if a scheduler was not explicitly provided.
      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 event loop on the scheduler passed to the controller's constructor, or the default scheduler if a scheduler was not explicitly provided.
      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.

    • 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 event loop on the scheduler passed to the controller's constructor, or the default scheduler if a scheduler was not explicitly provided.

    • 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 event loop on the scheduler passed to the controller's constructor, or the default scheduler if a scheduler was not explicitly provided.

    • 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 event loop on the scheduler passed to the controller's constructor, or the default scheduler if a scheduler was not explicitly provided.

    • 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 event loop on the scheduler passed to the controller's constructor, or the default scheduler if a scheduler was not explicitly provided.

    • getLeftX

      public double getLeftX()
      Get the X axis value of left side of the controller. Right 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.

    • getLeftY

      public double getLeftY()
      Get the Y axis value of left side of the controller. Back 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.