Source code

001// Copyright (c) FIRST and other WPILib contributors.
002// Open Source Software; you can modify and/or share it under the terms of
003// the WPILib BSD license file in the root directory of this project.
004
005package org.wpilib.command2.button;
006
007import org.wpilib.command2.CommandScheduler;
008import org.wpilib.driverstation.Gamepad;
009import org.wpilib.event.EventLoop;
010
011/**
012 * A version of {@link Gamepad} with {@link Trigger} factories for command-based.
013 *
014 * @see Gamepad
015 */
016@SuppressWarnings("MethodName")
017public class CommandGamepad extends CommandGenericHID {
018  private final Gamepad m_hid;
019
020  /**
021   * Construct an instance of a controller.
022   *
023   * @param port The port index on the Driver Station that the controller is plugged into.
024   */
025  public CommandGamepad(int port) {
026    super(port);
027    m_hid = new Gamepad(port);
028  }
029
030  /**
031   * Get the underlying GenericHID object.
032   *
033   * @return the wrapped GenericHID object
034   */
035  @Override
036  public Gamepad getHID() {
037    return m_hid;
038  }
039
040  /**
041   * Constructs an event instance around this button's digital signal.
042   *
043   * @param button the button
044   * @return an event instance representing the button's digital signal attached to the {@link
045   *     CommandScheduler#getDefaultButtonLoop() default scheduler button loop}.
046   * @see #button(Gamepad.Button, EventLoop)
047   */
048  public Trigger button(Gamepad.Button button) {
049    return super.button(button.value);
050  }
051
052  /**
053   * Constructs an event instance around this button's digital signal.
054   *
055   * @param button the button
056   * @param loop the event loop instance to attach the event to.
057   * @return an event instance representing the button's digital signal attached to the given loop.
058   */
059  public Trigger button(Gamepad.Button button, EventLoop loop) {
060    return button(button.value, loop);
061  }
062
063  /**
064   * Constructs a Trigger instance around the South Face button's digital signal.
065   *
066   * @return a Trigger instance representing the South Face button's digital signal attached to the
067   *     {@link CommandScheduler#getDefaultButtonLoop() default scheduler button loop}.
068   * @see #southFace(EventLoop)
069   */
070  public Trigger southFace() {
071    return southFace(CommandScheduler.getInstance().getDefaultButtonLoop());
072  }
073
074  /**
075   * Constructs a Trigger instance around the South Face button's digital signal.
076   *
077   * @param loop the event loop instance to attach the event to.
078   * @return a Trigger instance representing the South Face button's digital signal attached to the
079   *     given loop.
080   */
081  public Trigger southFace(EventLoop loop) {
082    return button(Gamepad.Button.SOUTH_FACE, loop);
083  }
084
085  /**
086   * Constructs a Trigger instance around the East Face button's digital signal.
087   *
088   * @return a Trigger instance representing the East Face button's digital signal attached to the
089   *     {@link CommandScheduler#getDefaultButtonLoop() default scheduler button loop}.
090   * @see #eastFace(EventLoop)
091   */
092  public Trigger eastFace() {
093    return eastFace(CommandScheduler.getInstance().getDefaultButtonLoop());
094  }
095
096  /**
097   * Constructs a Trigger instance around the East Face button's digital signal.
098   *
099   * @param loop the event loop instance to attach the event to.
100   * @return a Trigger instance representing the East Face button's digital signal attached to the
101   *     given loop.
102   */
103  public Trigger eastFace(EventLoop loop) {
104    return button(Gamepad.Button.EAST_FACE, loop);
105  }
106
107  /**
108   * Constructs a Trigger instance around the West Face button's digital signal.
109   *
110   * @return a Trigger instance representing the West Face button's digital signal attached to the
111   *     {@link CommandScheduler#getDefaultButtonLoop() default scheduler button loop}.
112   * @see #westFace(EventLoop)
113   */
114  public Trigger westFace() {
115    return westFace(CommandScheduler.getInstance().getDefaultButtonLoop());
116  }
117
118  /**
119   * Constructs a Trigger instance around the West Face button's digital signal.
120   *
121   * @param loop the event loop instance to attach the event to.
122   * @return a Trigger instance representing the West Face button's digital signal attached to the
123   *     given loop.
124   */
125  public Trigger westFace(EventLoop loop) {
126    return button(Gamepad.Button.WEST_FACE, loop);
127  }
128
129  /**
130   * Constructs a Trigger instance around the North Face button's digital signal.
131   *
132   * @return a Trigger instance representing the North Face button's digital signal attached to the
133   *     {@link CommandScheduler#getDefaultButtonLoop() default scheduler button loop}.
134   * @see #northFace(EventLoop)
135   */
136  public Trigger northFace() {
137    return northFace(CommandScheduler.getInstance().getDefaultButtonLoop());
138  }
139
140  /**
141   * Constructs a Trigger instance around the North Face button's digital signal.
142   *
143   * @param loop the event loop instance to attach the event to.
144   * @return a Trigger instance representing the North Face button's digital signal attached to the
145   *     given loop.
146   */
147  public Trigger northFace(EventLoop loop) {
148    return button(Gamepad.Button.NORTH_FACE, loop);
149  }
150
151  /**
152   * Constructs a Trigger instance around the Back button's digital signal.
153   *
154   * @return a Trigger instance representing the Back button's digital signal attached to the {@link
155   *     CommandScheduler#getDefaultButtonLoop() default scheduler button loop}.
156   * @see #back(EventLoop)
157   */
158  public Trigger back() {
159    return back(CommandScheduler.getInstance().getDefaultButtonLoop());
160  }
161
162  /**
163   * Constructs a Trigger instance around the Back button's digital signal.
164   *
165   * @param loop the event loop instance to attach the event to.
166   * @return a Trigger instance representing the Back button's digital signal attached to the given
167   *     loop.
168   */
169  public Trigger back(EventLoop loop) {
170    return button(Gamepad.Button.BACK, loop);
171  }
172
173  /**
174   * Constructs a Trigger instance around the Guide button's digital signal.
175   *
176   * @return a Trigger instance representing the Guide button's digital signal attached to the
177   *     {@link CommandScheduler#getDefaultButtonLoop() default scheduler button loop}.
178   * @see #guide(EventLoop)
179   */
180  public Trigger guide() {
181    return guide(CommandScheduler.getInstance().getDefaultButtonLoop());
182  }
183
184  /**
185   * Constructs a Trigger instance around the Guide button's digital signal.
186   *
187   * @param loop the event loop instance to attach the event to.
188   * @return a Trigger instance representing the Guide button's digital signal attached to the given
189   *     loop.
190   */
191  public Trigger guide(EventLoop loop) {
192    return button(Gamepad.Button.GUIDE, loop);
193  }
194
195  /**
196   * Constructs a Trigger instance around the Start button's digital signal.
197   *
198   * @return a Trigger instance representing the Start button's digital signal attached to the
199   *     {@link CommandScheduler#getDefaultButtonLoop() default scheduler button loop}.
200   * @see #start(EventLoop)
201   */
202  public Trigger start() {
203    return start(CommandScheduler.getInstance().getDefaultButtonLoop());
204  }
205
206  /**
207   * Constructs a Trigger instance around the Start button's digital signal.
208   *
209   * @param loop the event loop instance to attach the event to.
210   * @return a Trigger instance representing the Start button's digital signal attached to the given
211   *     loop.
212   */
213  public Trigger start(EventLoop loop) {
214    return button(Gamepad.Button.START, loop);
215  }
216
217  /**
218   * Constructs a Trigger instance around the left stick button's digital signal.
219   *
220   * @return a Trigger instance representing the left stick button's digital signal attached to the
221   *     {@link CommandScheduler#getDefaultButtonLoop() default scheduler button loop}.
222   * @see #leftStick(EventLoop)
223   */
224  public Trigger leftStick() {
225    return leftStick(CommandScheduler.getInstance().getDefaultButtonLoop());
226  }
227
228  /**
229   * Constructs a Trigger instance around the left stick button's digital signal.
230   *
231   * @param loop the event loop instance to attach the event to.
232   * @return a Trigger instance representing the left stick button's digital signal attached to the
233   *     given loop.
234   */
235  public Trigger leftStick(EventLoop loop) {
236    return button(Gamepad.Button.LEFT_STICK, loop);
237  }
238
239  /**
240   * Constructs a Trigger instance around the right stick button's digital signal.
241   *
242   * @return a Trigger instance representing the right stick button's digital signal attached to the
243   *     {@link CommandScheduler#getDefaultButtonLoop() default scheduler button loop}.
244   * @see #rightStick(EventLoop)
245   */
246  public Trigger rightStick() {
247    return rightStick(CommandScheduler.getInstance().getDefaultButtonLoop());
248  }
249
250  /**
251   * Constructs a Trigger instance around the right stick button's digital signal.
252   *
253   * @param loop the event loop instance to attach the event to.
254   * @return a Trigger instance representing the right stick button's digital signal attached to the
255   *     given loop.
256   */
257  public Trigger rightStick(EventLoop loop) {
258    return button(Gamepad.Button.RIGHT_STICK, loop);
259  }
260
261  /**
262   * Constructs a Trigger instance around the right bumper button's digital signal.
263   *
264   * @return a Trigger instance representing the right bumper button's digital signal attached to
265   *     the {@link CommandScheduler#getDefaultButtonLoop() default scheduler button loop}.
266   * @see #leftBumper(EventLoop)
267   */
268  public Trigger leftBumper() {
269    return leftBumper(CommandScheduler.getInstance().getDefaultButtonLoop());
270  }
271
272  /**
273   * Constructs a Trigger instance around the right bumper button's digital signal.
274   *
275   * @param loop the event loop instance to attach the event to.
276   * @return a Trigger instance representing the right bumper button's digital signal attached to
277   *     the given loop.
278   */
279  public Trigger leftBumper(EventLoop loop) {
280    return button(Gamepad.Button.LEFT_BUMPER, loop);
281  }
282
283  /**
284   * Constructs a Trigger instance around the right bumper button's digital signal.
285   *
286   * @return a Trigger instance representing the right bumper button's digital signal attached to
287   *     the {@link CommandScheduler#getDefaultButtonLoop() default scheduler button loop}.
288   * @see #rightBumper(EventLoop)
289   */
290  public Trigger rightBumper() {
291    return rightBumper(CommandScheduler.getInstance().getDefaultButtonLoop());
292  }
293
294  /**
295   * Constructs a Trigger instance around the right bumper button's digital signal.
296   *
297   * @param loop the event loop instance to attach the event to.
298   * @return a Trigger instance representing the right bumper button's digital signal attached to
299   *     the given loop.
300   */
301  public Trigger rightBumper(EventLoop loop) {
302    return button(Gamepad.Button.RIGHT_BUMPER, loop);
303  }
304
305  /**
306   * Constructs a Trigger instance around the D-pad up button's digital signal.
307   *
308   * @return a Trigger instance representing the D-pad up button's digital signal attached to the
309   *     {@link CommandScheduler#getDefaultButtonLoop() default scheduler button loop}.
310   * @see #dpadUp(EventLoop)
311   */
312  public Trigger dpadUp() {
313    return dpadUp(CommandScheduler.getInstance().getDefaultButtonLoop());
314  }
315
316  /**
317   * Constructs a Trigger instance around the D-pad up button's digital signal.
318   *
319   * @param loop the event loop instance to attach the event to.
320   * @return a Trigger instance representing the D-pad up button's digital signal attached to the
321   *     given loop.
322   */
323  public Trigger dpadUp(EventLoop loop) {
324    return button(Gamepad.Button.DPAD_UP, loop);
325  }
326
327  /**
328   * Constructs a Trigger instance around the D-pad down button's digital signal.
329   *
330   * @return a Trigger instance representing the D-pad down button's digital signal attached to the
331   *     {@link CommandScheduler#getDefaultButtonLoop() default scheduler button loop}.
332   * @see #dpadDown(EventLoop)
333   */
334  public Trigger dpadDown() {
335    return dpadDown(CommandScheduler.getInstance().getDefaultButtonLoop());
336  }
337
338  /**
339   * Constructs a Trigger instance around the D-pad down button's digital signal.
340   *
341   * @param loop the event loop instance to attach the event to.
342   * @return a Trigger instance representing the D-pad down button's digital signal attached to the
343   *     given loop.
344   */
345  public Trigger dpadDown(EventLoop loop) {
346    return button(Gamepad.Button.DPAD_DOWN, loop);
347  }
348
349  /**
350   * Constructs a Trigger instance around the D-pad left button's digital signal.
351   *
352   * @return a Trigger instance representing the D-pad left button's digital signal attached to the
353   *     {@link CommandScheduler#getDefaultButtonLoop() default scheduler button loop}.
354   * @see #dpadLeft(EventLoop)
355   */
356  public Trigger dpadLeft() {
357    return dpadLeft(CommandScheduler.getInstance().getDefaultButtonLoop());
358  }
359
360  /**
361   * Constructs a Trigger instance around the D-pad left button's digital signal.
362   *
363   * @param loop the event loop instance to attach the event to.
364   * @return a Trigger instance representing the D-pad left button's digital signal attached to the
365   *     given loop.
366   */
367  public Trigger dpadLeft(EventLoop loop) {
368    return button(Gamepad.Button.DPAD_LEFT, loop);
369  }
370
371  /**
372   * Constructs a Trigger instance around the D-pad right button's digital signal.
373   *
374   * @return a Trigger instance representing the D-pad right button's digital signal attached to the
375   *     {@link CommandScheduler#getDefaultButtonLoop() default scheduler button loop}.
376   * @see #dpadRight(EventLoop)
377   */
378  public Trigger dpadRight() {
379    return dpadRight(CommandScheduler.getInstance().getDefaultButtonLoop());
380  }
381
382  /**
383   * Constructs a Trigger instance around the D-pad right button's digital signal.
384   *
385   * @param loop the event loop instance to attach the event to.
386   * @return a Trigger instance representing the D-pad right button's digital signal attached to the
387   *     given loop.
388   */
389  public Trigger dpadRight(EventLoop loop) {
390    return button(Gamepad.Button.DPAD_RIGHT, loop);
391  }
392
393  /**
394   * Constructs a Trigger instance around the Miscellaneous 1 button's digital signal.
395   *
396   * @return a Trigger instance representing the Miscellaneous 1 button's digital signal attached to
397   *     the {@link CommandScheduler#getDefaultButtonLoop() default scheduler button loop}.
398   * @see #misc1(EventLoop)
399   */
400  public Trigger misc1() {
401    return misc1(CommandScheduler.getInstance().getDefaultButtonLoop());
402  }
403
404  /**
405   * Constructs a Trigger instance around the Miscellaneous 1 button's digital signal.
406   *
407   * @param loop the event loop instance to attach the event to.
408   * @return a Trigger instance representing the Miscellaneous 1 button's digital signal attached to
409   *     the given loop.
410   */
411  public Trigger misc1(EventLoop loop) {
412    return button(Gamepad.Button.MISC_1, loop);
413  }
414
415  /**
416   * Constructs a Trigger instance around the Right Paddle 1 button's digital signal.
417   *
418   * @return a Trigger instance representing the Right Paddle 1 button's digital signal attached to
419   *     the {@link CommandScheduler#getDefaultButtonLoop() default scheduler button loop}.
420   * @see #rightPaddle1(EventLoop)
421   */
422  public Trigger rightPaddle1() {
423    return rightPaddle1(CommandScheduler.getInstance().getDefaultButtonLoop());
424  }
425
426  /**
427   * Constructs a Trigger instance around the Right Paddle 1 button's digital signal.
428   *
429   * @param loop the event loop instance to attach the event to.
430   * @return a Trigger instance representing the Right Paddle 1 button's digital signal attached to
431   *     the given loop.
432   */
433  public Trigger rightPaddle1(EventLoop loop) {
434    return button(Gamepad.Button.RIGHT_PADDLE_1, loop);
435  }
436
437  /**
438   * Constructs a Trigger instance around the Left Paddle 1 button's digital signal.
439   *
440   * @return a Trigger instance representing the Left Paddle 1 button's digital signal attached to
441   *     the {@link CommandScheduler#getDefaultButtonLoop() default scheduler button loop}.
442   * @see #leftPaddle1(EventLoop)
443   */
444  public Trigger leftPaddle1() {
445    return leftPaddle1(CommandScheduler.getInstance().getDefaultButtonLoop());
446  }
447
448  /**
449   * Constructs a Trigger instance around the Left Paddle 1 button's digital signal.
450   *
451   * @param loop the event loop instance to attach the event to.
452   * @return a Trigger instance representing the Left Paddle 1 button's digital signal attached to
453   *     the given loop.
454   */
455  public Trigger leftPaddle1(EventLoop loop) {
456    return button(Gamepad.Button.LEFT_PADDLE_1, loop);
457  }
458
459  /**
460   * Constructs a Trigger instance around the Right Paddle 2 button's digital signal.
461   *
462   * @return a Trigger instance representing the Right Paddle 2 button's digital signal attached to
463   *     the {@link CommandScheduler#getDefaultButtonLoop() default scheduler button loop}.
464   * @see #rightPaddle2(EventLoop)
465   */
466  public Trigger rightPaddle2() {
467    return rightPaddle2(CommandScheduler.getInstance().getDefaultButtonLoop());
468  }
469
470  /**
471   * Constructs a Trigger instance around the Right Paddle 2 button's digital signal.
472   *
473   * @param loop the event loop instance to attach the event to.
474   * @return a Trigger instance representing the Right Paddle 2 button's digital signal attached to
475   *     the given loop.
476   */
477  public Trigger rightPaddle2(EventLoop loop) {
478    return button(Gamepad.Button.RIGHT_PADDLE_2, loop);
479  }
480
481  /**
482   * Constructs a Trigger instance around the Left Paddle 2 button's digital signal.
483   *
484   * @return a Trigger instance representing the Left Paddle 2 button's digital signal attached to
485   *     the {@link CommandScheduler#getDefaultButtonLoop() default scheduler button loop}.
486   * @see #leftPaddle2(EventLoop)
487   */
488  public Trigger leftPaddle2() {
489    return leftPaddle2(CommandScheduler.getInstance().getDefaultButtonLoop());
490  }
491
492  /**
493   * Constructs a Trigger instance around the Left Paddle 2 button's digital signal.
494   *
495   * @param loop the event loop instance to attach the event to.
496   * @return a Trigger instance representing the Left Paddle 2 button's digital signal attached to
497   *     the given loop.
498   */
499  public Trigger leftPaddle2(EventLoop loop) {
500    return button(Gamepad.Button.LEFT_PADDLE_2, loop);
501  }
502
503  /**
504   * Constructs a Trigger instance around the Touchpad button's digital signal.
505   *
506   * @return a Trigger instance representing the Touchpad button's digital signal attached to the
507   *     {@link CommandScheduler#getDefaultButtonLoop() default scheduler button loop}.
508   * @see #touchpad(EventLoop)
509   */
510  public Trigger touchpad() {
511    return touchpad(CommandScheduler.getInstance().getDefaultButtonLoop());
512  }
513
514  /**
515   * Constructs a Trigger instance around the Touchpad button's digital signal.
516   *
517   * @param loop the event loop instance to attach the event to.
518   * @return a Trigger instance representing the Touchpad button's digital signal attached to the
519   *     given loop.
520   */
521  public Trigger touchpad(EventLoop loop) {
522    return button(Gamepad.Button.TOUCHPAD, loop);
523  }
524
525  /**
526   * Constructs a Trigger instance around the Miscellaneous 2 button's digital signal.
527   *
528   * @return a Trigger instance representing the Miscellaneous 2 button's digital signal attached to
529   *     the {@link CommandScheduler#getDefaultButtonLoop() default scheduler button loop}.
530   * @see #misc2(EventLoop)
531   */
532  public Trigger misc2() {
533    return misc2(CommandScheduler.getInstance().getDefaultButtonLoop());
534  }
535
536  /**
537   * Constructs a Trigger instance around the Miscellaneous 2 button's digital signal.
538   *
539   * @param loop the event loop instance to attach the event to.
540   * @return a Trigger instance representing the Miscellaneous 2 button's digital signal attached to
541   *     the given loop.
542   */
543  public Trigger misc2(EventLoop loop) {
544    return button(Gamepad.Button.MISC_2, loop);
545  }
546
547  /**
548   * Constructs a Trigger instance around the Miscellaneous 3 button's digital signal.
549   *
550   * @return a Trigger instance representing the Miscellaneous 3 button's digital signal attached to
551   *     the {@link CommandScheduler#getDefaultButtonLoop() default scheduler button loop}.
552   * @see #misc3(EventLoop)
553   */
554  public Trigger misc3() {
555    return misc3(CommandScheduler.getInstance().getDefaultButtonLoop());
556  }
557
558  /**
559   * Constructs a Trigger instance around the Miscellaneous 3 button's digital signal.
560   *
561   * @param loop the event loop instance to attach the event to.
562   * @return a Trigger instance representing the Miscellaneous 3 button's digital signal attached to
563   *     the given loop.
564   */
565  public Trigger misc3(EventLoop loop) {
566    return button(Gamepad.Button.MISC_3, loop);
567  }
568
569  /**
570   * Constructs a Trigger instance around the Miscellaneous 4 button's digital signal.
571   *
572   * @return a Trigger instance representing the Miscellaneous 4 button's digital signal attached to
573   *     the {@link CommandScheduler#getDefaultButtonLoop() default scheduler button loop}.
574   * @see #misc4(EventLoop)
575   */
576  public Trigger misc4() {
577    return misc4(CommandScheduler.getInstance().getDefaultButtonLoop());
578  }
579
580  /**
581   * Constructs a Trigger instance around the Miscellaneous 4 button's digital signal.
582   *
583   * @param loop the event loop instance to attach the event to.
584   * @return a Trigger instance representing the Miscellaneous 4 button's digital signal attached to
585   *     the given loop.
586   */
587  public Trigger misc4(EventLoop loop) {
588    return button(Gamepad.Button.MISC_4, loop);
589  }
590
591  /**
592   * Constructs a Trigger instance around the Miscellaneous 5 button's digital signal.
593   *
594   * @return a Trigger instance representing the Miscellaneous 5 button's digital signal attached to
595   *     the {@link CommandScheduler#getDefaultButtonLoop() default scheduler button loop}.
596   * @see #misc5(EventLoop)
597   */
598  public Trigger misc5() {
599    return misc5(CommandScheduler.getInstance().getDefaultButtonLoop());
600  }
601
602  /**
603   * Constructs a Trigger instance around the Miscellaneous 5 button's digital signal.
604   *
605   * @param loop the event loop instance to attach the event to.
606   * @return a Trigger instance representing the Miscellaneous 5 button's digital signal attached to
607   *     the given loop.
608   */
609  public Trigger misc5(EventLoop loop) {
610    return button(Gamepad.Button.MISC_5, loop);
611  }
612
613  /**
614   * Constructs a Trigger instance around the Miscellaneous 6 button's digital signal.
615   *
616   * @return a Trigger instance representing the Miscellaneous 6 button's digital signal attached to
617   *     the {@link CommandScheduler#getDefaultButtonLoop() default scheduler button loop}.
618   * @see #misc6(EventLoop)
619   */
620  public Trigger misc6() {
621    return misc6(CommandScheduler.getInstance().getDefaultButtonLoop());
622  }
623
624  /**
625   * Constructs a Trigger instance around the Miscellaneous 6 button's digital signal.
626   *
627   * @param loop the event loop instance to attach the event to.
628   * @return a Trigger instance representing the Miscellaneous 6 button's digital signal attached to
629   *     the given loop.
630   */
631  public Trigger misc6(EventLoop loop) {
632    return button(Gamepad.Button.MISC_6, loop);
633  }
634
635  /**
636   * Constructs a Trigger instance around the axis value of the left trigger. The returned trigger
637   * will be true when the axis value is greater than {@code threshold}.
638   *
639   * @param threshold the minimum axis value for the returned {@link Trigger} to be true. This value
640   *     should be in the range [0, 1] where 0 is the unpressed state of the axis.
641   * @param loop the event loop instance to attach the Trigger to.
642   * @return a Trigger instance that is true when the left trigger's axis exceeds the provided
643   *     threshold, attached to the given event loop
644   */
645  public Trigger leftTrigger(double threshold, EventLoop loop) {
646    return axisGreaterThan(Gamepad.Axis.LEFT_TRIGGER, threshold, loop);
647  }
648
649  /**
650   * Constructs a Trigger instance around the axis value of the left trigger. The returned trigger
651   * will be true when the axis value is greater than {@code threshold}.
652   *
653   * @param threshold the minimum axis value for the returned {@link Trigger} to be true. This value
654   *     should be in the range [0, 1] where 0 is the unpressed state of the axis.
655   * @return a Trigger instance that is true when the left trigger's axis exceeds the provided
656   *     threshold, attached to the {@link CommandScheduler#getDefaultButtonLoop() default scheduler
657   *     button loop}.
658   */
659  public Trigger leftTrigger(double threshold) {
660    return leftTrigger(threshold, CommandScheduler.getInstance().getDefaultButtonLoop());
661  }
662
663  /**
664   * Constructs a Trigger instance around the axis value of the left trigger. The returned trigger
665   * will be true when the axis value is greater than 0.5.
666   *
667   * @return a Trigger instance that is true when the left trigger's axis exceeds 0.5, attached to
668   *     the {@link CommandScheduler#getDefaultButtonLoop() default scheduler button loop}.
669   */
670  public Trigger leftTrigger() {
671    return leftTrigger(0.5);
672  }
673
674  /**
675   * Constructs a Trigger instance around the axis value of the right trigger. The returned trigger
676   * will be true when the axis value is greater than {@code threshold}.
677   *
678   * @param threshold the minimum axis value for the returned {@link Trigger} to be true. This value
679   *     should be in the range [0, 1] where 0 is the unpressed state of the axis.
680   * @param loop the event loop instance to attach the Trigger to.
681   * @return a Trigger instance that is true when the right trigger's axis exceeds the provided
682   *     threshold, attached to the given event loop
683   */
684  public Trigger rightTrigger(double threshold, EventLoop loop) {
685    return axisGreaterThan(Gamepad.Axis.RIGHT_TRIGGER, threshold, loop);
686  }
687
688  /**
689   * Constructs a Trigger instance around the axis value of the right trigger. The returned trigger
690   * will be true when the axis value is greater than {@code threshold}.
691   *
692   * @param threshold the minimum axis value for the returned {@link Trigger} to be true. This value
693   *     should be in the range [0, 1] where 0 is the unpressed state of the axis.
694   * @return a Trigger instance that is true when the right trigger's axis exceeds the provided
695   *     threshold, attached to the {@link CommandScheduler#getDefaultButtonLoop() default scheduler
696   *     button loop}.
697   */
698  public Trigger rightTrigger(double threshold) {
699    return rightTrigger(threshold, CommandScheduler.getInstance().getDefaultButtonLoop());
700  }
701
702  /**
703   * Constructs a Trigger instance around the axis value of the right trigger. The returned trigger
704   * will be true when the axis value is greater than 0.5.
705   *
706   * @return a Trigger instance that is true when the right trigger's axis exceeds 0.5, attached to
707   *     the {@link CommandScheduler#getDefaultButtonLoop() default scheduler button loop}.
708   */
709  public Trigger rightTrigger() {
710    return rightTrigger(0.5);
711  }
712
713  /**
714   * Constructs a Trigger instance that is true when the axis value is less than {@code threshold},
715   * attached to {@link CommandScheduler#getDefaultButtonLoop() the default command scheduler button
716   * loop}.
717   *
718   * @param axis The axis to read
719   * @param threshold The value below which this trigger should return true.
720   * @return a Trigger instance that is true when the axis value is less than the provided
721   *     threshold.
722   */
723  public Trigger axisLessThan(Gamepad.Axis axis, double threshold) {
724    return super.axisLessThan(axis.value, threshold);
725  }
726
727  /**
728   * Constructs a Trigger instance that is true when the axis value is less than {@code threshold},
729   * attached to the given loop.
730   *
731   * @param axis The axis to read
732   * @param threshold The value below which this trigger should return true.
733   * @param loop the event loop instance to attach the trigger to
734   * @return a Trigger instance that is true when the axis value is less than the provided
735   *     threshold.
736   */
737  public Trigger axisLessThan(Gamepad.Axis axis, double threshold, EventLoop loop) {
738    return super.axisLessThan(axis.value, threshold, loop);
739  }
740
741  /**
742   * Constructs a Trigger instance that is true when the axis value is less than {@code threshold},
743   * attached to {@link CommandScheduler#getDefaultButtonLoop() the default command scheduler button
744   * loop}.
745   *
746   * @param axis The axis to read
747   * @param threshold The value above which this trigger should return true.
748   * @return a Trigger instance that is true when the axis value is greater than the provided
749   *     threshold.
750   */
751  public Trigger axisGreaterThan(Gamepad.Axis axis, double threshold) {
752    return super.axisGreaterThan(axis.value, threshold);
753  }
754
755  /**
756   * Constructs a Trigger instance that is true when the axis value is greater than {@code
757   * threshold}, attached to the given loop.
758   *
759   * @param axis The axis to read
760   * @param threshold The value above which this trigger should return true.
761   * @param loop the event loop instance to attach the trigger to.
762   * @return a Trigger instance that is true when the axis value is greater than the provided
763   *     threshold.
764   */
765  public Trigger axisGreaterThan(Gamepad.Axis axis, double threshold, EventLoop loop) {
766    return super.axisGreaterThan(axis.value, threshold, loop);
767  }
768
769  /**
770   * Constructs a Trigger instance that is true when the axis magnitude value is greater than {@code
771   * threshold}, attached to the given loop.
772   *
773   * @param axis The axis to read
774   * @param threshold The value above which this trigger should return true.
775   * @param loop the event loop instance to attach the trigger to.
776   * @return a Trigger instance that is true when the axis magnitude value is greater than the
777   *     provided threshold.
778   */
779  public Trigger axisMagnitudeGreaterThan(Gamepad.Axis axis, double threshold, EventLoop loop) {
780    return super.axisMagnitudeGreaterThan(axis.value, threshold, loop);
781  }
782
783  /**
784   * Constructs a Trigger instance that is true when the axis magnitude value is greater than {@code
785   * threshold}, attached to {@link CommandScheduler#getDefaultButtonLoop() the default command
786   * scheduler button loop}.
787   *
788   * @param axis The axis to read
789   * @param threshold The value above which this trigger should return true.
790   * @return a Trigger instance that is true when the deadbanded axis value is active (non-zero).
791   */
792  public Trigger axisMagnitudeGreaterThan(Gamepad.Axis axis, double threshold) {
793    return super.axisMagnitudeGreaterThan(axis.value, threshold);
794  }
795
796  /**
797   * Get the value of the axis.
798   *
799   * @param axis The axis to read
800   * @return The value of the axis.
801   */
802  public double getAxis(Gamepad.Axis axis) {
803    return getRawAxis(axis.value);
804  }
805
806  /**
807   * Get the X axis value of left side of the controller. Right is positive.
808   *
809   * @return The axis value.
810   */
811  public double getLeftX() {
812    return m_hid.getLeftX();
813  }
814
815  /**
816   * Get the Y axis value of left side of the controller. Back is positive.
817   *
818   * @return The axis value.
819   */
820  public double getLeftY() {
821    return m_hid.getLeftY();
822  }
823
824  /**
825   * Get the X axis value of right side of the controller. Right is positive.
826   *
827   * @return The axis value.
828   */
829  public double getRightX() {
830    return m_hid.getRightX();
831  }
832
833  /**
834   * Get the Y axis value of right side of the controller. Back is positive.
835   *
836   * @return The axis value.
837   */
838  public double getRightY() {
839    return m_hid.getRightY();
840  }
841
842  /**
843   * Get the left trigger axis value of the controller. Note that this axis is bound to the range of
844   * [0, 1] as opposed to the usual [-1, 1].
845   *
846   * @return The axis value.
847   */
848  public double getLeftTriggerAxis() {
849    return m_hid.getLeftTriggerAxis();
850  }
851
852  /**
853   * Get the right trigger axis value of the controller. Note that this axis is bound to the range
854   * of [0, 1] as opposed to the usual [-1, 1].
855   *
856   * @return The axis value.
857   */
858  public double getRightTriggerAxis() {
859    return m_hid.getRightTriggerAxis();
860  }
861}