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
005// THIS FILE WAS AUTO-GENERATED BY ./wpilibNewCommands/generate_hids.py. DO NOT MODIFY
006
007package edu.wpi.first.wpilibj2.command.button;
008
009import edu.wpi.first.wpilibj.XboxController;
010import edu.wpi.first.wpilibj.event.EventLoop;
011import edu.wpi.first.wpilibj2.command.CommandScheduler;
012
013/**
014 * A version of {@link XboxController} with {@link Trigger} factories for command-based.
015 *
016 * @see XboxController
017 */
018@SuppressWarnings("MethodName")
019public class CommandXboxController extends CommandGenericHID {
020  private final XboxController m_hid;
021
022  /**
023   * Construct an instance of a controller.
024   *
025   * @param port The port index on the Driver Station that the controller is plugged into.
026   */
027  public CommandXboxController(int port) {
028    super(port);
029    m_hid = new XboxController(port);
030  }
031
032  /**
033   * Get the underlying GenericHID object.
034   *
035   * @return the wrapped GenericHID object
036   */
037  @Override
038  public XboxController getHID() {
039    return m_hid;
040  }
041
042  /**
043   * Constructs a Trigger instance around the A button's digital signal.
044   *
045   * @return a Trigger instance representing the A button's digital signal attached
046   *     to the {@link CommandScheduler#getDefaultButtonLoop() default scheduler button loop}.
047   * @see #a(EventLoop)
048   */
049  public Trigger a() {
050    return a(CommandScheduler.getInstance().getDefaultButtonLoop());
051  }
052
053  /**
054   * Constructs a Trigger instance around the A button's digital signal.
055   *
056   * @param loop the event loop instance to attach the event to.
057   * @return a Trigger instance representing the A button's digital signal attached
058   *     to the given loop.
059   */
060  public Trigger a(EventLoop loop) {
061    return button(XboxController.Button.kA.value, loop);
062  }
063
064  /**
065   * Constructs a Trigger instance around the B button's digital signal.
066   *
067   * @return a Trigger instance representing the B button's digital signal attached
068   *     to the {@link CommandScheduler#getDefaultButtonLoop() default scheduler button loop}.
069   * @see #b(EventLoop)
070   */
071  public Trigger b() {
072    return b(CommandScheduler.getInstance().getDefaultButtonLoop());
073  }
074
075  /**
076   * Constructs a Trigger instance around the B button's digital signal.
077   *
078   * @param loop the event loop instance to attach the event to.
079   * @return a Trigger instance representing the B button's digital signal attached
080   *     to the given loop.
081   */
082  public Trigger b(EventLoop loop) {
083    return button(XboxController.Button.kB.value, loop);
084  }
085
086  /**
087   * Constructs a Trigger instance around the X button's digital signal.
088   *
089   * @return a Trigger instance representing the X button's digital signal attached
090   *     to the {@link CommandScheduler#getDefaultButtonLoop() default scheduler button loop}.
091   * @see #x(EventLoop)
092   */
093  public Trigger x() {
094    return x(CommandScheduler.getInstance().getDefaultButtonLoop());
095  }
096
097  /**
098   * Constructs a Trigger instance around the X button's digital signal.
099   *
100   * @param loop the event loop instance to attach the event to.
101   * @return a Trigger instance representing the X button's digital signal attached
102   *     to the given loop.
103   */
104  public Trigger x(EventLoop loop) {
105    return button(XboxController.Button.kX.value, loop);
106  }
107
108  /**
109   * Constructs a Trigger instance around the Y button's digital signal.
110   *
111   * @return a Trigger instance representing the Y button's digital signal attached
112   *     to the {@link CommandScheduler#getDefaultButtonLoop() default scheduler button loop}.
113   * @see #y(EventLoop)
114   */
115  public Trigger y() {
116    return y(CommandScheduler.getInstance().getDefaultButtonLoop());
117  }
118
119  /**
120   * Constructs a Trigger instance around the Y button's digital signal.
121   *
122   * @param loop the event loop instance to attach the event to.
123   * @return a Trigger instance representing the Y button's digital signal attached
124   *     to the given loop.
125   */
126  public Trigger y(EventLoop loop) {
127    return button(XboxController.Button.kY.value, loop);
128  }
129
130  /**
131   * Constructs a Trigger instance around the left bumper button's digital signal.
132   *
133   * @return a Trigger instance representing the left bumper button's digital signal attached
134   *     to the {@link CommandScheduler#getDefaultButtonLoop() default scheduler button loop}.
135   * @see #leftBumper(EventLoop)
136   */
137  public Trigger leftBumper() {
138    return leftBumper(CommandScheduler.getInstance().getDefaultButtonLoop());
139  }
140
141  /**
142   * Constructs a Trigger instance around the left bumper button's digital signal.
143   *
144   * @param loop the event loop instance to attach the event to.
145   * @return a Trigger instance representing the left bumper button's digital signal attached
146   *     to the given loop.
147   */
148  public Trigger leftBumper(EventLoop loop) {
149    return button(XboxController.Button.kLeftBumper.value, loop);
150  }
151
152  /**
153   * Constructs a Trigger instance around the right bumper button's digital signal.
154   *
155   * @return a Trigger instance representing the right bumper button's digital signal attached
156   *     to the {@link CommandScheduler#getDefaultButtonLoop() default scheduler button loop}.
157   * @see #rightBumper(EventLoop)
158   */
159  public Trigger rightBumper() {
160    return rightBumper(CommandScheduler.getInstance().getDefaultButtonLoop());
161  }
162
163  /**
164   * Constructs a Trigger instance around the right bumper button's digital signal.
165   *
166   * @param loop the event loop instance to attach the event to.
167   * @return a Trigger instance representing the right bumper button's digital signal attached
168   *     to the given loop.
169   */
170  public Trigger rightBumper(EventLoop loop) {
171    return button(XboxController.Button.kRightBumper.value, loop);
172  }
173
174  /**
175   * Constructs a Trigger instance around the back button's digital signal.
176   *
177   * @return a Trigger instance representing the back button's digital signal attached
178   *     to the {@link CommandScheduler#getDefaultButtonLoop() default scheduler button loop}.
179   * @see #back(EventLoop)
180   */
181  public Trigger back() {
182    return back(CommandScheduler.getInstance().getDefaultButtonLoop());
183  }
184
185  /**
186   * Constructs a Trigger instance around the back button's digital signal.
187   *
188   * @param loop the event loop instance to attach the event to.
189   * @return a Trigger instance representing the back button's digital signal attached
190   *     to the given loop.
191   */
192  public Trigger back(EventLoop loop) {
193    return button(XboxController.Button.kBack.value, loop);
194  }
195
196  /**
197   * Constructs a Trigger instance around the start button's digital signal.
198   *
199   * @return a Trigger instance representing the start button's digital signal attached
200   *     to the {@link CommandScheduler#getDefaultButtonLoop() default scheduler button loop}.
201   * @see #start(EventLoop)
202   */
203  public Trigger start() {
204    return start(CommandScheduler.getInstance().getDefaultButtonLoop());
205  }
206
207  /**
208   * Constructs a Trigger instance around the start button's digital signal.
209   *
210   * @param loop the event loop instance to attach the event to.
211   * @return a Trigger instance representing the start button's digital signal attached
212   *     to the given loop.
213   */
214  public Trigger start(EventLoop loop) {
215    return button(XboxController.Button.kStart.value, loop);
216  }
217
218  /**
219   * Constructs a Trigger instance around the left stick button's digital signal.
220   *
221   * @return a Trigger instance representing the left stick button's digital signal attached
222   *     to the {@link CommandScheduler#getDefaultButtonLoop() default scheduler button loop}.
223   * @see #leftStick(EventLoop)
224   */
225  public Trigger leftStick() {
226    return leftStick(CommandScheduler.getInstance().getDefaultButtonLoop());
227  }
228
229  /**
230   * Constructs a Trigger instance around the left stick button's digital signal.
231   *
232   * @param loop the event loop instance to attach the event to.
233   * @return a Trigger instance representing the left stick button's digital signal attached
234   *     to the given loop.
235   */
236  public Trigger leftStick(EventLoop loop) {
237    return button(XboxController.Button.kLeftStick.value, loop);
238  }
239
240  /**
241   * Constructs a Trigger instance around the right stick button's digital signal.
242   *
243   * @return a Trigger instance representing the right stick button's digital signal attached
244   *     to the {@link CommandScheduler#getDefaultButtonLoop() default scheduler button loop}.
245   * @see #rightStick(EventLoop)
246   */
247  public Trigger rightStick() {
248    return rightStick(CommandScheduler.getInstance().getDefaultButtonLoop());
249  }
250
251  /**
252   * Constructs a Trigger instance around the right stick button's digital signal.
253   *
254   * @param loop the event loop instance to attach the event to.
255   * @return a Trigger instance representing the right stick button's digital signal attached
256   *     to the given loop.
257   */
258  public Trigger rightStick(EventLoop loop) {
259    return button(XboxController.Button.kRightStick.value, loop);
260  }
261
262  /**
263   * Constructs a Trigger instance around the axis value of the left trigger. The returned
264   * trigger will be true when the axis value is greater than {@code threshold}.
265   *
266   * @param threshold the minimum axis value for the returned {@link Trigger} to be true. This value
267   *     should be in the range [0, 1] where 0 is the unpressed state of the axis.
268   * @param loop the event loop instance to attach the Trigger to.
269   * @return a Trigger instance that is true when the left trigger's axis exceeds the provided
270   *     threshold, attached to the given event loop
271   */
272  public Trigger leftTrigger(double threshold, EventLoop loop) {
273    return axisGreaterThan(XboxController.Axis.kLeftTrigger.value, threshold, loop);
274  }
275
276  /**
277   * Constructs a Trigger instance around the axis value of the left trigger. The returned
278   * trigger will be true when the axis value is greater than {@code threshold}.
279   *
280   * @param threshold the minimum axis value for the returned {@link Trigger} to be true. This value
281   *     should be in the range [0, 1] where 0 is the unpressed state of the axis.
282   * @return a Trigger instance that is true when the left trigger's axis exceeds the provided
283   *     threshold, attached to the {@link CommandScheduler#getDefaultButtonLoop() default scheduler
284   *     button loop}.
285   */
286  public Trigger leftTrigger(double threshold) {
287    return leftTrigger(threshold, CommandScheduler.getInstance().getDefaultButtonLoop());
288  }
289
290  /**
291   * Constructs a Trigger instance around the axis value of the left trigger. The returned trigger
292   * will be true when the axis value is greater than 0.5.
293   *
294   * @return a Trigger instance that is true when the left trigger's axis exceeds 0.5, attached to
295   *     the {@link CommandScheduler#getDefaultButtonLoop() default scheduler button loop}.
296   */
297  public Trigger leftTrigger() {
298    return leftTrigger(0.5);
299  }
300
301  /**
302   * Constructs a Trigger instance around the axis value of the right trigger. The returned
303   * trigger will be true when the axis value is greater than {@code threshold}.
304   *
305   * @param threshold the minimum axis value for the returned {@link Trigger} to be true. This value
306   *     should be in the range [0, 1] where 0 is the unpressed state of the axis.
307   * @param loop the event loop instance to attach the Trigger to.
308   * @return a Trigger instance that is true when the right trigger's axis exceeds the provided
309   *     threshold, attached to the given event loop
310   */
311  public Trigger rightTrigger(double threshold, EventLoop loop) {
312    return axisGreaterThan(XboxController.Axis.kRightTrigger.value, threshold, loop);
313  }
314
315  /**
316   * Constructs a Trigger instance around the axis value of the right trigger. The returned
317   * trigger will be true when the axis value is greater than {@code threshold}.
318   *
319   * @param threshold the minimum axis value for the returned {@link Trigger} to be true. This value
320   *     should be in the range [0, 1] where 0 is the unpressed state of the axis.
321   * @return a Trigger instance that is true when the right trigger's axis exceeds the provided
322   *     threshold, attached to the {@link CommandScheduler#getDefaultButtonLoop() default scheduler
323   *     button loop}.
324   */
325  public Trigger rightTrigger(double threshold) {
326    return rightTrigger(threshold, CommandScheduler.getInstance().getDefaultButtonLoop());
327  }
328
329  /**
330   * Constructs a Trigger instance around the axis value of the right trigger. The returned trigger
331   * will be true when the axis value is greater than 0.5.
332   *
333   * @return a Trigger instance that is true when the right trigger's axis exceeds 0.5, attached to
334   *     the {@link CommandScheduler#getDefaultButtonLoop() default scheduler button loop}.
335   */
336  public Trigger rightTrigger() {
337    return rightTrigger(0.5);
338  }
339
340  /**
341   * Get the X axis value of left side of the controller.
342   *
343   * @return The axis value.
344   */
345  public double getLeftX() {
346    return m_hid.getLeftX();
347  }
348
349  /**
350   * Get the X axis value of right side of the controller.
351   *
352   * @return The axis value.
353   */
354  public double getRightX() {
355    return m_hid.getRightX();
356  }
357
358  /**
359   * Get the Y axis value of left side of the controller.
360   *
361   * @return The axis value.
362   */
363  public double getLeftY() {
364    return m_hid.getLeftY();
365  }
366
367  /**
368   * Get the Y axis value of right side of the controller.
369   *
370   * @return The axis value.
371   */
372  public double getRightY() {
373    return m_hid.getRightY();
374  }
375
376  /**
377   * Get the left trigger axis value of the controller. Note that this axis is bound to the
378   * range of [0, 1] as opposed to the usual [-1, 1].
379   *
380   * @return The axis value.
381   */
382  public double getLeftTriggerAxis() {
383    return m_hid.getLeftTriggerAxis();
384  }
385
386  /**
387   * Get the right trigger axis value of the controller. Note that this axis is bound to the
388   * range of [0, 1] as opposed to the usual [-1, 1].
389   *
390   * @return The axis value.
391   */
392  public double getRightTriggerAxis() {
393    return m_hid.getRightTriggerAxis();
394  }
395}