Class GenericHID

java.lang.Object
org.wpilib.driverstation.GenericHID
Direct Known Subclasses:
Gamepad, Joystick, NiDsPS4Controller, NiDsPS5Controller, NiDsStadiaController, NiDsXboxController
public class GenericHID extends Object
Handle input from standard HID devices connected to the Driver Station.

This class handles standard input that comes from the Driver Station. Each time a value is requested the most recent value is returned. There is a single class instance for each device and the mapping of ports to hardware buttons depends on the code in the Driver Station.

  • Constructor Details

    • GenericHID

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

  • Method Details

    • getRawButton

      public boolean getRawButton(int button)
      Get the button value (starting at button 1).

      The buttons are returned in a single 16 bit value with one bit representing the state of each button. The appropriate button is returned as a boolean value.

      This method returns true if the button is being held down at the time that this method is being called.

      Parameters:
      button - The button number to be read (starting at 1)
      Returns:
      The state of the button.

    • getRawButtonPressed

      public boolean getRawButtonPressed(int button)
      Whether the button was pressed since the last check. Button indexes begin at 1.

      This method returns true if the button went from not pressed to held down since the last time this method was called. This is useful if you only want to call a function once when you press the button.

      Parameters:
      button - The button index, beginning at 0.
      Returns:
      Whether the button was pressed since the last check.

    • getRawButtonReleased

      public boolean getRawButtonReleased(int button)
      Whether the button was released since the last check. Button indexes begin at 1.

      This method returns true if the button went from held down to not pressed since the last time this method was called. This is useful if you only want to call a function once when you release the button.

      Parameters:
      button - The button index, beginning at 0.
      Returns:
      Whether the button was released since the last check.

    • button

      public BooleanEvent button(int button, EventLoop loop)
      Constructs an event instance around this button's digital signal.
      Parameters:
      button - the button index
      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.

    • getRawAxis

      public double getRawAxis(int axis)
      Get the value of the axis.
      Parameters:
      axis - The axis to read, starting at 0.
      Returns:
      The value of the axis.

    • getPOV

      public DriverStation.POVDirection getPOV(int pov)
      Get the angle of a POV on the HID.
      Parameters:
      pov - The index of the POV to read (starting at 0). Defaults to 0.
      Returns:
      the angle of the POV.

    • getPOV

      public DriverStation.POVDirection getPOV()
      Get the angle of the default POV (index 0) on the HID.
      Returns:
      the angle of the POV.

    • pov

      public BooleanEvent pov(DriverStation.POVDirection angle, EventLoop loop)
      Constructs a BooleanEvent instance based around this angle of a POV on the HID.
      Parameters:
      angle - POV angle.
      loop - the event loop instance to attach the event to.
      Returns:
      a BooleanEvent instance based around this angle of a POV on the HID.

    • pov

      public BooleanEvent pov(int pov, DriverStation.POVDirection angle, EventLoop loop)
      Constructs a BooleanEvent instance based around this angle of a POV on the HID.
      Parameters:
      pov - index of the POV to read (starting at 0). Defaults to 0.
      angle - POV angle.
      loop - the event loop instance to attach the event to.
      Returns:
      a BooleanEvent instance based around this angle of a POV on the HID.

    • povUp

      public BooleanEvent povUp(EventLoop loop)
      Constructs a BooleanEvent instance based around the up direction of the default (index 0) POV on the HID.
      Parameters:
      loop - the event loop instance to attach the event to.
      Returns:
      a BooleanEvent instance based around the up direction a POV on the HID.

    • povUpRight

      public BooleanEvent povUpRight(EventLoop loop)
      Constructs a BooleanEvent instance based around the up right direction of the default (index 0) POV on the HID.
      Parameters:
      loop - the event loop instance to attach the event to.
      Returns:
      a BooleanEvent instance based around the up right direction of a POV on the HID.

    • povRight

      public BooleanEvent povRight(EventLoop loop)
      Constructs a BooleanEvent instance based around the right direction of the default (index 0) POV on the HID.
      Parameters:
      loop - the event loop instance to attach the event to.
      Returns:
      a BooleanEvent instance based around the right direction of a POV on the HID.

    • povDownRight

      public BooleanEvent povDownRight(EventLoop loop)
      Constructs a BooleanEvent instance based around the down right direction of the default (index 0) POV on the HID.
      Parameters:
      loop - the event loop instance to attach the event to.
      Returns:
      a BooleanEvent instance based around the down right direction of a POV on the HID.

    • povDown

      public BooleanEvent povDown(EventLoop loop)
      Constructs a BooleanEvent instance based around the down direction of the default (index 0) POV on the HID.
      Parameters:
      loop - the event loop instance to attach the event to.
      Returns:
      a BooleanEvent instance based around the down direction of a POV on the HID.

    • povDownLeft

      public BooleanEvent povDownLeft(EventLoop loop)
      Constructs a BooleanEvent instance based around the down left direction of the default (index 0) POV on the HID.
      Parameters:
      loop - the event loop instance to attach the event to.
      Returns:
      a BooleanEvent instance based around the down left direction of a POV on the HID.

    • povLeft

      public BooleanEvent povLeft(EventLoop loop)
      Constructs a BooleanEvent instance based around the left direction of the default (index 0) POV on the HID.
      Parameters:
      loop - the event loop instance to attach the event to.
      Returns:
      a BooleanEvent instance based around the left direction of a POV on the HID.

    • povUpLeft

      public BooleanEvent povUpLeft(EventLoop loop)
      Constructs a BooleanEvent instance based around the up left direction of the default (index 0) POV on the HID.
      Parameters:
      loop - the event loop instance to attach the event to.
      Returns:
      a BooleanEvent instance based around the up left direction of a POV on the HID.

    • povCenter

      public BooleanEvent povCenter(EventLoop loop)
      Constructs a BooleanEvent instance based around the center (not pressed) of the default (index 0) POV on the HID.
      Parameters:
      loop - the event loop instance to attach the event to.
      Returns:
      a BooleanEvent instance based around the center of a POV on the HID.

    • axisLessThan

      public BooleanEvent axisLessThan(int axis, double threshold, EventLoop loop)
      Constructs an event instance that is true when the axis value is less than threshold, attached to the given loop.
      Parameters:
      axis - The axis to read, starting at 0
      threshold - The value below which this event should return true.
      loop - the event loop instance to attach the event to.
      Returns:
      an event instance that is true when the axis value is less than the provided threshold.

    • axisGreaterThan

      public BooleanEvent axisGreaterThan(int axis, double threshold, EventLoop loop)
      Constructs an event instance that is true when the axis value is greater than threshold, attached to the given loop.
      Parameters:
      axis - The axis to read, starting at 0
      threshold - The value above which this event should return true.
      loop - the event loop instance to attach the event to.
      Returns:
      an event instance that is true when the axis value is greater than the provided threshold.

    • getAxesMaximumIndex

      public int getAxesMaximumIndex()
      Get the maximum axis index for the joystick.
      Returns:
      the maximum axis index for the joystick

    • getAxesAvailable

      public int getAxesAvailable()
      Get the number of axes for the HID.
      Returns:
      the number of axis for the current HID

    • getPOVsMaximumIndex

      public int getPOVsMaximumIndex()
      Get the maximum POV index for the joystick.
      Returns:
      the maximum POV index for the joystick

    • getPOVsAvailable

      public int getPOVsAvailable()
      For the current HID, return the number of POVs.
      Returns:
      the number of POVs for the current HID

    • getButtonsMaximumIndex

      public int getButtonsMaximumIndex()
      Get the maximum button index for the joystick.
      Returns:
      the maximum button index for the joystick

    • getButtonsAvailable

      public long getButtonsAvailable()
      For the current HID, return the number of buttons.
      Returns:
      the number of buttons for the current HID

    • isConnected

      public boolean isConnected()
      Get if the HID is connected.
      Returns:
      true if the HID is connected

    • getGamepadType

      public GenericHID.HIDType getGamepadType()
      Get the type of the HID.
      Returns:
      the type of the HID.

    • getSupportedOutputs

      public int getSupportedOutputs()
      Get the supported outputs for the HID.
      Returns:
      the supported outputs for the HID.

    • getName

      public String getName()
      Get the name of the HID.
      Returns:
      the name of the HID.

    • getPort

      public int getPort()
      Get the port number of the HID.
      Returns:
      The port number of the HID.

    • setLeds

      public void setLeds(int r, int g, int b)
      Set leds on the controller. If only mono is supported, the system will use the highest value passed in.
      Parameters:
      r - Red value from 0-255
      g - Green value from 0-255
      b - Blue value from 0-255

    • setRumble

      public void setRumble(GenericHID.RumbleType type, double value)
      Set the rumble output for the HID. The DS currently supports 4 rumble values: left rumble, right rumble, left trigger rumble, and right trigger rumble.
      Parameters:
      type - Which rumble value to set
      value - The normalized value (0 to 1) to set the rumble to

    • getTouchpadFingerAvailable

      public boolean getTouchpadFingerAvailable(int touchpad, int finger)
      Check if a touchpad finger is available.
      Parameters:
      touchpad - The touchpad to check.
      finger - The finger to check.
      Returns:
      true if the touchpad finger is available.

    • getTouchpadFinger

      public DriverStation.TouchpadFinger getTouchpadFinger(int touchpad, int finger)
      Get the touchpad finger data.
      Parameters:
      touchpad - The touchpad to read.
      finger - The finger to read.
      Returns:
      The touchpad finger data.