# validated: 2024-01-20 DS d426873ed15b button/CommandPS4Controller.java
from typing import Optional
from wpilib import PS4Controller
from wpilib.event import EventLoop
from ..commandscheduler import CommandScheduler
from .commandgenerichid import CommandGenericHID
from .trigger import Trigger
[docs]
class CommandPS4Controller(CommandGenericHID):
"""
A version of PS4Controller with Trigger factories for command-based.
"""
_hid: PS4Controller
def __init__(self, port: int):
"""
Construct an instance of a device.
:param port: The port index on the Driver Station that the device is plugged into.
"""
super().__init__(port)
self._hid = PS4Controller(port)
[docs]
def getHID(self) -> PS4Controller:
"""
Get the underlying GenericHID object.
:returns: the wrapped GenericHID object
"""
return self._hid
[docs]
def L2(self, loop: Optional[EventLoop] = None) -> Trigger:
"""
Constructs an event instance around the L2 button's digital signal.
:param loop: the event loop instance to attach the event to, defaults
to :func:`commands2.CommandScheduler.getDefaultButtonLoop`
:returns: an event instance representing the L2 button's digital signal attached to the given
loop.
"""
if loop is None:
loop = CommandScheduler.getInstance().getDefaultButtonLoop()
return Trigger(loop, lambda: self._hid.getL2Button())
[docs]
def R2(self, loop: Optional[EventLoop] = None) -> Trigger:
"""
Constructs an event instance around the R2 button's digital signal.
:param loop: the event loop instance to attach the event to, defaults
to :func:`commands2.CommandScheduler.getDefaultButtonLoop`
:returns: an event instance representing the R2 button's digital signal attached to the given
loop.
"""
if loop is None:
loop = CommandScheduler.getInstance().getDefaultButtonLoop()
return Trigger(loop, lambda: self._hid.getR2Button())
[docs]
def L1(self, loop: Optional[EventLoop] = None) -> Trigger:
"""
Constructs an event instance around the L1 button's digital signal.
:param loop: the event loop instance to attach the event to, defaults
to :func:`commands2.CommandScheduler.getDefaultButtonLoop`
:returns: an event instance representing the L1 button's digital signal attached to the given
loop.
"""
if loop is None:
loop = CommandScheduler.getInstance().getDefaultButtonLoop()
return Trigger(loop, lambda: self._hid.getL1Button())
[docs]
def R1(self, loop: Optional[EventLoop] = None) -> Trigger:
"""
Constructs an event instance around the R1 button's digital signal.
:param loop: the event loop instance to attach the event to, defaults
to :func:`commands2.CommandScheduler.getDefaultButtonLoop`
:returns: an event instance representing the R1 button's digital signal attached to the given
loop.
"""
if loop is None:
loop = CommandScheduler.getInstance().getDefaultButtonLoop()
return Trigger(loop, lambda: self._hid.getR1Button())
[docs]
def L3(self, loop: Optional[EventLoop] = None) -> Trigger:
"""
Constructs an event instance around the L3 button's digital signal.
:param loop: the event loop instance to attach the event to, defaults
to :func:`commands2.CommandScheduler.getDefaultButtonLoop`
:returns: an event instance representing the L3 button's digital signal attached to the given
loop.
"""
if loop is None:
loop = CommandScheduler.getInstance().getDefaultButtonLoop()
return Trigger(loop, lambda: self._hid.getL3Button())
[docs]
def R3(self, loop: Optional[EventLoop] = None) -> Trigger:
"""
Constructs an event instance around the R3 button's digital signal.
:param loop: the event loop instance to attach the event to, defaults
to :func:`commands2.CommandScheduler.getDefaultButtonLoop`
:returns: an event instance representing the R3 button's digital signal attached to the given
loop.
"""
if loop is None:
loop = CommandScheduler.getInstance().getDefaultButtonLoop()
return Trigger(loop, lambda: self._hid.getR3Button())
[docs]
def square(self, loop: Optional[EventLoop] = None) -> Trigger:
"""
Constructs an event instance around the square button's digital signal.
:param loop: the event loop instance to attach the event to, defaults
to :func:`commands2.CommandScheduler.getDefaultButtonLoop`
:returns: an event instance representing the square button's digital signal attached to the given
loop.
"""
if loop is None:
loop = CommandScheduler.getInstance().getDefaultButtonLoop()
return Trigger(loop, lambda: self._hid.getSquareButton())
[docs]
def cross(self, loop: Optional[EventLoop] = None) -> Trigger:
"""
Constructs an event instance around the cross button's digital signal.
:param loop: the event loop instance to attach the event to, defaults
to :func:`commands2.CommandScheduler.getDefaultButtonLoop`
:returns: an event instance representing the cross button's digital signal attached to the given
loop.
"""
if loop is None:
loop = CommandScheduler.getInstance().getDefaultButtonLoop()
return Trigger(loop, lambda: self._hid.getCrossButton())
[docs]
def triangle(self, loop: Optional[EventLoop] = None) -> Trigger:
"""
Constructs an event instance around the triangle button's digital signal.
:param loop: the event loop instance to attach the event to, defaults
to :func:`commands2.CommandScheduler.getDefaultButtonLoop`
:returns: an event instance representing the triangle button's digital signal attached to the
given loop.
"""
if loop is None:
loop = CommandScheduler.getInstance().getDefaultButtonLoop()
return Trigger(loop, lambda: self._hid.getTriangleButton())
[docs]
def circle(self, loop: Optional[EventLoop] = None) -> Trigger:
"""
Constructs an event instance around the circle button's digital signal.
:param loop: the event loop instance to attach the event to, defaults
to :func:`commands2.CommandScheduler.getDefaultButtonLoop`
:returns: an event instance representing the circle button's digital signal attached to the given
loop.
"""
if loop is None:
loop = CommandScheduler.getInstance().getDefaultButtonLoop()
return Trigger(loop, lambda: self._hid.getCircleButton())
[docs]
def share(self, loop: Optional[EventLoop] = None) -> Trigger:
"""
Constructs an event instance around the share button's digital signal.
:param loop: the event loop instance to attach the event to, defaults
to :func:`commands2.CommandScheduler.getDefaultButtonLoop`
:returns: an event instance representing the share button's digital signal attached to the given
loop.
"""
if loop is None:
loop = CommandScheduler.getInstance().getDefaultButtonLoop()
return Trigger(loop, lambda: self._hid.getShareButton())
[docs]
def PS(self, loop: Optional[EventLoop] = None) -> Trigger:
"""
Constructs an event instance around the PS button's digital signal.
:param loop: the event loop instance to attach the event to, defaults
to :func:`commands2.CommandScheduler.getDefaultButtonLoop`
:returns: an event instance representing the PS button's digital signal attached to the given
loop.
"""
if loop is None:
loop = CommandScheduler.getInstance().getDefaultButtonLoop()
return Trigger(loop, lambda: self._hid.getPSButton())
[docs]
def options(self, loop: Optional[EventLoop] = None) -> Trigger:
"""
Constructs an event instance around the options button's digital signal.
:param loop: the event loop instance to attach the event to, defaults
to :func:`commands2.CommandScheduler.getDefaultButtonLoop`
:returns: an event instance representing the options button's digital signal attached to the
given loop.
"""
if loop is None:
loop = CommandScheduler.getInstance().getDefaultButtonLoop()
return Trigger(loop, lambda: self._hid.getOptionsButton())
[docs]
def touchpad(self, loop: Optional[EventLoop] = None) -> Trigger:
"""
Constructs an event instance around the touchpad's digital signal.
:param loop: the event loop instance to attach the event to, defaults
to :func:`commands2.CommandScheduler.getDefaultButtonLoop`
:returns: an event instance representing the touchpad's digital signal attached to the given
loop.
"""
if loop is None:
loop = CommandScheduler.getInstance().getDefaultButtonLoop()
return Trigger(loop, lambda: self._hid.getTouchpad())
[docs]
def getLeftX(self) -> float:
"""
Get the X axis value of left side of the controller.
:returns: the axis value.
"""
return self._hid.getLeftX()
[docs]
def getRightX(self) -> float:
"""
Get the X axis value of right side of the controller.
:returns: the axis value.
"""
return self._hid.getRightX()
[docs]
def getLeftY(self) -> float:
"""
Get the Y axis value of left side of the controller.
:returns: the axis value.
"""
return self._hid.getLeftY()
[docs]
def getRightY(self) -> float:
"""
Get the Y axis value of right side of the controller.
:returns: the axis value.
"""
return self._hid.getRightY()
[docs]
def getL2Axis(self) -> float:
"""
Get the L2 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.
"""
return self._hid.getL2Axis()
[docs]
def getR2Axis(self) -> float:
"""
Get the R2 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.
"""
return self._hid.getR2Axis()