Package edu.wpi.first.wpilibj

Class GenericHID

java.lang.Object
edu.wpi.first.wpilibj.GenericHID
Direct Known Subclasses:
Joystick, PS4Controller, PS5Controller, XboxController
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.

  • Nested Class Summary

    Nested Classes 
    Modifier and Type Class Description
    static class  GenericHID.HIDType  
    static class  GenericHID.RumbleType
    Represents a rumble output on the JoyStick.

  • Constructor Summary

    Constructors 
    Constructor Description
    GenericHID​(int port)
    Construct an instance of a device.

  • Method Summary

    Modifier and Type Method Description
    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.
    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.
    BooleanEvent button​(int button, EventLoop loop)
    Constructs an event instance around this button's digital signal.
    int getAxisCount()
    Get the number of axes for the HID.
    int getAxisType​(int axis)
    Get the axis type of the provided joystick axis.
    int getButtonCount()
    For the current HID, return the number of buttons.
    String getName()
    Get the name of the HID.
    int getPort()
    Get the port number of the HID.
    int getPOV()
    Get the angle in degrees of the default POV (index 0) on the HID.
    int getPOV​(int pov)
    Get the angle in degrees of a POV on the HID.
    int getPOVCount()
    For the current HID, return the number of POVs.
    double getRawAxis​(int axis)
    Get the value of the axis.
    boolean getRawButton​(int button)
    Get the button value (starting at button 1).
    boolean getRawButtonPressed​(int button)
    Whether the button was pressed since the last check.
    boolean getRawButtonReleased​(int button)
    Whether the button was released since the last check.
    GenericHID.HIDType getType()
    Get the type of the HID.
    boolean isConnected()
    Get if the HID is connected.
    BooleanEvent pov​(int pov, int angle, EventLoop loop)
    Constructs a BooleanEvent instance based around this angle of a POV on the HID.
    BooleanEvent pov​(int angle, EventLoop loop)
    Constructs a BooleanEvent instance based around this angle of a POV on the HID.
    BooleanEvent povCenter​(EventLoop loop)
    Constructs a BooleanEvent instance based around the center (not pressed) of the default (index 0) POV on the HID.
    BooleanEvent povDown​(EventLoop loop)
    Constructs a BooleanEvent instance based around the 180 degree angle (down) of the default (index 0) POV on the HID.
    BooleanEvent povDownLeft​(EventLoop loop)
    Constructs a BooleanEvent instance based around the 225 degree angle (down left) of the default (index 0) POV on the HID.
    BooleanEvent povDownRight​(EventLoop loop)
    Constructs a BooleanEvent instance based around the 135 degree angle (right down) of the default (index 0) POV on the HID.
    BooleanEvent povLeft​(EventLoop loop)
    Constructs a BooleanEvent instance based around the 270 degree angle (left) of the default (index 0) POV on the HID.
    BooleanEvent povRight​(EventLoop loop)
    Constructs a BooleanEvent instance based around the 90 degree angle (right) of the default (index 0) POV on the HID.
    BooleanEvent povUp​(EventLoop loop)
    Constructs a BooleanEvent instance based around the 0 degree angle (up) of the default (index 0) POV on the HID.
    BooleanEvent povUpLeft​(EventLoop loop)
    Constructs a BooleanEvent instance based around the 315 degree angle (left up) of the default (index 0) POV on the HID.
    BooleanEvent povUpRight​(EventLoop loop)
    Constructs a BooleanEvent instance based around the 45 degree angle (right up) of the default (index 0) POV on the HID.
    void setOutput​(int outputNumber, boolean value)
    Set a single HID output value for the HID.
    void setOutputs​(int value)
    Set all HID output values for the HID.
    void setRumble​(GenericHID.RumbleType type, double value)
    Set the rumble output for the HID.

    Methods inherited from class java.lang.Object

    clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

  • 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 1.
      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 1.
      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 int getPOV​(int pov)
      Get the angle in degrees of a POV on the HID.

      The POV angles start at 0 in the up direction, and increase clockwise (e.g. right is 90, upper-left is 315).

      Parameters:
      pov - The index of the POV to read (starting at 0). Defaults to 0.
      Returns:
      the angle of the POV in degrees, or -1 if the POV is not pressed.

    • getPOV

      public int getPOV()
      Get the angle in degrees of the default POV (index 0) on the HID.

      The POV angles start at 0 in the up direction, and increase clockwise (e.g. right is 90, upper-left is 315).

      Returns:
      the angle of the POV in degrees, or -1 if the POV is not pressed.

    • pov

      public BooleanEvent pov​(int angle, EventLoop loop)
      Constructs a BooleanEvent instance based around this angle of a POV on the HID.

      The POV angles start at 0 in the up direction, and increase clockwise (eg right is 90, upper-left is 315).

      Parameters:
      angle - POV angle in degrees, or -1 for the center / not pressed.
      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, int angle, EventLoop loop)
      Constructs a BooleanEvent instance based around this angle of a POV on the HID.

      The POV angles start at 0 in the up direction, and increase clockwise (e.g. right is 90, upper-left is 315).

      Parameters:
      pov - index of the POV to read (starting at 0). Defaults to 0.
      angle - POV angle in degrees, or -1 for the center / not pressed.
      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 0 degree angle (up) 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 0 degree angle of a POV on the HID.

    • povUpRight

      public BooleanEvent povUpRight​(EventLoop loop)
      Constructs a BooleanEvent instance based around the 45 degree angle (right up) 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 45 degree angle of a POV on the HID.

    • povRight

      public BooleanEvent povRight​(EventLoop loop)
      Constructs a BooleanEvent instance based around the 90 degree angle (right) 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 90 degree angle of a POV on the HID.

    • povDownRight

      public BooleanEvent povDownRight​(EventLoop loop)
      Constructs a BooleanEvent instance based around the 135 degree angle (right down) 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 135 degree angle of a POV on the HID.

    • povDown

      public BooleanEvent povDown​(EventLoop loop)
      Constructs a BooleanEvent instance based around the 180 degree angle (down) 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 180 degree angle of a POV on the HID.

    • povDownLeft

      public BooleanEvent povDownLeft​(EventLoop loop)
      Constructs a BooleanEvent instance based around the 225 degree angle (down left) 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 225 degree angle of a POV on the HID.

    • povLeft

      public BooleanEvent povLeft​(EventLoop loop)
      Constructs a BooleanEvent instance based around the 270 degree angle (left) 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 270 degree angle of a POV on the HID.

    • povUpLeft

      public BooleanEvent povUpLeft​(EventLoop loop)
      Constructs a BooleanEvent instance based around the 315 degree angle (left up) 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 315 degree angle 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.

    • getAxisCount

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

    • getPOVCount

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

    • getButtonCount

      public int getButtonCount()
      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

    • getType

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

    • getName

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

    • getAxisType

      public int getAxisType​(int axis)
      Get the axis type of the provided joystick axis.
      Parameters:
      axis - The axis to read, starting at 0.
      Returns:
      the axis type of the given joystick axis

    • getPort

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

    • setOutput

      public void setOutput​(int outputNumber, boolean value)
      Set a single HID output value for the HID.
      Parameters:
      outputNumber - The index of the output to set (1-32)
      value - The value to set the output to

    • setOutputs

      public void setOutputs​(int value)
      Set all HID output values for the HID.
      Parameters:
      value - The 32 bit output value (1 bit for each output)

    • setRumble

      public void setRumble​(GenericHID.RumbleType type, double value)
      Set the rumble output for the HID. The DS currently supports 2 rumble values, left rumble and right rumble.
      Parameters:
      type - Which rumble value to set
      value - The normalized value (0 to 1) to set the rumble to