# validated: 2024-01-20 DS 3ba501f9478a button/CommandXboxController.java
from typing import Optional
from wpilib import XboxController
from wpilib.event import EventLoop
from ..commandscheduler import CommandScheduler
from .commandgenerichid import CommandGenericHID
from .trigger import Trigger
[docs]
class CommandXboxController(CommandGenericHID):
"""
A version of XboxController with Trigger factories for command-based.
"""
_hid: XboxController
def __init__(self, port: int):
"""
Construct an instance of a controller.
:param port: The port index on the Driver Station that the controller is plugged into.
"""
super().__init__(port)
self._hid = XboxController(port)
[docs]
def getHID(self) -> XboxController:
"""
Get the underlying GenericHID object.
:returns: the wrapped GenericHID object
"""
return self._hid
[docs]
def leftBumper(self, loop: Optional[EventLoop] = None) -> Trigger:
"""
Constructs an event instance around the left bumper'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 right bumper's digital signal attached to the given
loop.
"""
if loop is None:
loop = CommandScheduler.getInstance().getDefaultButtonLoop()
return Trigger(loop, lambda: self._hid.getLeftBumper())
[docs]
def rightBumper(self, loop: Optional[EventLoop] = None) -> Trigger:
"""
Constructs an event instance around the right bumper'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 left bumper's digital signal attached to the given
loop.
"""
if loop is None:
loop = CommandScheduler.getInstance().getDefaultButtonLoop()
return Trigger(loop, lambda: self._hid.getRightBumper())
[docs]
def leftStick(self, loop: Optional[EventLoop] = None) -> Trigger:
"""
Constructs an event instance around the left stick 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 left stick button's digital signal attached to the
given loop.
"""
if loop is None:
loop = CommandScheduler.getInstance().getDefaultButtonLoop()
return Trigger(loop, lambda: self._hid.getLeftStickButton())
[docs]
def rightStick(self, loop: Optional[EventLoop] = None) -> Trigger:
"""
Constructs an event instance around the right stick 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 right stick button's digital signal attached to the
given loop.
"""
if loop is None:
loop = CommandScheduler.getInstance().getDefaultButtonLoop()
return Trigger(loop, lambda: self._hid.getRightStickButton())
[docs]
def a(self, loop: Optional[EventLoop] = None) -> Trigger:
"""
Constructs an event instance around the A 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 A button's digital signal attached to the given
loop.
"""
if loop is None:
loop = CommandScheduler.getInstance().getDefaultButtonLoop()
return Trigger(loop, lambda: self._hid.getAButton())
[docs]
def b(self, loop: Optional[EventLoop] = None) -> Trigger:
"""
Constructs an event instance around the B 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 B button's digital signal attached to the given
loop.
"""
if loop is None:
loop = CommandScheduler.getInstance().getDefaultButtonLoop()
return Trigger(loop, lambda: self._hid.getBButton())
[docs]
def x(self, loop: Optional[EventLoop] = None) -> Trigger:
"""
Constructs an event instance around the X 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 X button's digital signal attached to the given
loop.
"""
if loop is None:
loop = CommandScheduler.getInstance().getDefaultButtonLoop()
return Trigger(loop, lambda: self._hid.getXButton())
[docs]
def y(self, loop: Optional[EventLoop] = None) -> Trigger:
"""
Constructs an event instance around the Y 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 Y button's digital signal attached to the given
loop.
"""
if loop is None:
loop = CommandScheduler.getInstance().getDefaultButtonLoop()
return Trigger(loop, lambda: self._hid.getYButton())
[docs]
def start(self, loop: Optional[EventLoop] = None) -> Trigger:
"""
Constructs an event instance around the start 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 start button's digital signal attached to the given
loop.
"""
if loop is None:
loop = CommandScheduler.getInstance().getDefaultButtonLoop()
return Trigger(loop, lambda: self._hid.getStartButton())
[docs]
def back(self, loop: Optional[EventLoop] = None) -> Trigger:
"""
Constructs an event instance around the back 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 back button's digital signal attached to the given
loop.
"""
if loop is None:
loop = CommandScheduler.getInstance().getDefaultButtonLoop()
return Trigger(loop, lambda: self._hid.getBackButton())
[docs]
def leftTrigger(
self, threshold: float = 0.5, loop: Optional[EventLoop] = None
) -> Trigger:
"""
Constructs a Trigger instance around the axis value of the left trigger. The returned trigger
will be true when the axis value is greater than {@code threshold}.
:param threshold: the minimum axis value for the returned Trigger to be true. This value
should be in the range [0, 1] where 0 is the unpressed state of the axis.
:param loop: the event loop instance to attach the Trigger to, defaults
to :func:`commands2.CommandScheduler.getDefaultButtonLoop`
:returns: a Trigger instance that is true when the left trigger's axis exceeds the provided
threshold, attached to the given event loop
"""
if loop is None:
loop = CommandScheduler.getInstance().getDefaultButtonLoop()
return Trigger(loop, lambda: self._hid.getLeftTriggerAxis() > threshold)
[docs]
def rightTrigger(
self, threshold: float = 0.5, loop: Optional[EventLoop] = None
) -> Trigger:
"""
Constructs a Trigger instance around the axis value of the right trigger. The returned trigger
will be true when the axis value is greater than {@code threshold}.
:param threshold: the minimum axis value for the returned Trigger to be true. This value
should be in the range [0, 1] where 0 is the unpressed state of the axis.
:param loop: the event loop instance to attach the Trigger to, defaults
to :func:`commands2.CommandScheduler.getDefaultButtonLoop`
:returns: a Trigger instance that is true when the right trigger's axis exceeds the provided
threshold, attached to the given event loop
"""
if loop is None:
loop = CommandScheduler.getInstance().getDefaultButtonLoop()
return Trigger(loop, lambda: self._hid.getRightTriggerAxis() > threshold)
[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 getLeftTriggerAxis(self) -> float:
"""
Get the left trigger (LT) 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.getLeftTriggerAxis()
[docs]
def getRightTriggerAxis(self) -> float:
"""
Get the right trigger (RT) 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.getRightTriggerAxis()