# THIS FILE WAS AUTO-GENERATED BY ./commandsv2/generate_hids.py. DO NOT MODIFY
from typing import Optional, Union
from wpilib import EventLoop, Switch2GCController
from .commandgenerichid import CommandGenericHID
from .trigger import Trigger
[docs]
class CommandSwitch2GCController:
"""
A version of :class:`wpilib.Switch2GCController` with :class:`.Trigger` factories for command-based.
"""
_hid: CommandGenericHID
_controller: Switch2GCController
def __init__(self, hid: Union[int, Switch2GCController]):
"""
Construct an instance of a controller.
:param hid: The port index on the Driver Station that the controller is plugged into,
or the Switch2GCController object to use for this controller.
"""
if isinstance(hid, int):
self._hid = CommandGenericHID.get_command_generic_hid(hid)
self._controller = Switch2GCController(self._hid.get_hid())
else:
self._hid = CommandGenericHID(hid.get_hid())
self._controller = hid
[docs]
def get_hid(self) -> CommandGenericHID:
"""
Get the underlying CommandGenericHID object.
:returns: the wrapped CommandGenericHID object
"""
return self._hid
[docs]
def get_controller(self) -> Switch2GCController:
"""
Get the wrapped controller object.
:returns: the wrapped controller object
"""
return self._controller
[docs]
def a(self, loop: Optional[EventLoop] = None) -> Trigger:
"""
Constructs a Trigger instance around the A button's digital signal.
:param loop: the event loop instance to attach the Trigger to, defaults
to :func:`commands2.CommandScheduler.get_default_button_loop`
:returns: a Trigger instance representing the A button's digital signal
attached to the given loop.
"""
return self.button(Switch2GCController.Button.A, loop)
[docs]
def x(self, loop: Optional[EventLoop] = None) -> Trigger:
"""
Constructs a Trigger instance around the X button's digital signal.
:param loop: the event loop instance to attach the Trigger to, defaults
to :func:`commands2.CommandScheduler.get_default_button_loop`
:returns: a Trigger instance representing the X button's digital signal
attached to the given loop.
"""
return self.button(Switch2GCController.Button.X, loop)
[docs]
def b(self, loop: Optional[EventLoop] = None) -> Trigger:
"""
Constructs a Trigger instance around the B button's digital signal.
:param loop: the event loop instance to attach the Trigger to, defaults
to :func:`commands2.CommandScheduler.get_default_button_loop`
:returns: a Trigger instance representing the B button's digital signal
attached to the given loop.
"""
return self.button(Switch2GCController.Button.B, loop)
[docs]
def y(self, loop: Optional[EventLoop] = None) -> Trigger:
"""
Constructs a Trigger instance around the Y button's digital signal.
:param loop: the event loop instance to attach the Trigger to, defaults
to :func:`commands2.CommandScheduler.get_default_button_loop`
:returns: a Trigger instance representing the Y button's digital signal
attached to the given loop.
"""
return self.button(Switch2GCController.Button.Y, loop)
[docs]
def home(self, loop: Optional[EventLoop] = None) -> Trigger:
"""
Constructs a Trigger instance around the Home button's digital signal.
:param loop: the event loop instance to attach the Trigger to, defaults
to :func:`commands2.CommandScheduler.get_default_button_loop`
:returns: a Trigger instance representing the Home button's digital signal
attached to the given loop.
"""
return self.button(Switch2GCController.Button.HOME, loop)
[docs]
def start(self, loop: Optional[EventLoop] = None) -> Trigger:
"""
Constructs a Trigger instance around the Start button's digital signal.
:param loop: the event loop instance to attach the Trigger to, defaults
to :func:`commands2.CommandScheduler.get_default_button_loop`
:returns: a Trigger instance representing the Start button's digital signal
attached to the given loop.
"""
return self.button(Switch2GCController.Button.START, loop)
[docs]
def zl(self, loop: Optional[EventLoop] = None) -> Trigger:
"""
Constructs a Trigger instance around the ZL button's digital signal.
:param loop: the event loop instance to attach the Trigger to, defaults
to :func:`commands2.CommandScheduler.get_default_button_loop`
:returns: a Trigger instance representing the ZL button's digital signal
attached to the given loop.
"""
return self.button(Switch2GCController.Button.ZL, loop)
[docs]
def z(self, loop: Optional[EventLoop] = None) -> Trigger:
"""
Constructs a Trigger instance around the Z button's digital signal.
:param loop: the event loop instance to attach the Trigger to, defaults
to :func:`commands2.CommandScheduler.get_default_button_loop`
:returns: a Trigger instance representing the Z button's digital signal
attached to the given loop.
"""
return self.button(Switch2GCController.Button.Z, loop)
[docs]
def dpad_up(self, loop: Optional[EventLoop] = None) -> Trigger:
"""
Constructs a Trigger instance around the Dpad Up button's digital signal.
:param loop: the event loop instance to attach the Trigger to, defaults
to :func:`commands2.CommandScheduler.get_default_button_loop`
:returns: a Trigger instance representing the Dpad Up button's digital signal
attached to the given loop.
"""
return self.button(Switch2GCController.Button.DPAD_UP, loop)
[docs]
def dpad_down(self, loop: Optional[EventLoop] = None) -> Trigger:
"""
Constructs a Trigger instance around the Dpad Down button's digital signal.
:param loop: the event loop instance to attach the Trigger to, defaults
to :func:`commands2.CommandScheduler.get_default_button_loop`
:returns: a Trigger instance representing the Dpad Down button's digital signal
attached to the given loop.
"""
return self.button(Switch2GCController.Button.DPAD_DOWN, loop)
[docs]
def dpad_left(self, loop: Optional[EventLoop] = None) -> Trigger:
"""
Constructs a Trigger instance around the Dpad Left button's digital signal.
:param loop: the event loop instance to attach the Trigger to, defaults
to :func:`commands2.CommandScheduler.get_default_button_loop`
:returns: a Trigger instance representing the Dpad Left button's digital signal
attached to the given loop.
"""
return self.button(Switch2GCController.Button.DPAD_LEFT, loop)
[docs]
def dpad_right(self, loop: Optional[EventLoop] = None) -> Trigger:
"""
Constructs a Trigger instance around the Dpad Right button's digital signal.
:param loop: the event loop instance to attach the Trigger to, defaults
to :func:`commands2.CommandScheduler.get_default_button_loop`
:returns: a Trigger instance representing the Dpad Right button's digital signal
attached to the given loop.
"""
return self.button(Switch2GCController.Button.DPAD_RIGHT, loop)
[docs]
def capture(self, loop: Optional[EventLoop] = None) -> Trigger:
"""
Constructs a Trigger instance around the Capture button's digital signal.
:param loop: the event loop instance to attach the Trigger to, defaults
to :func:`commands2.CommandScheduler.get_default_button_loop`
:returns: a Trigger instance representing the Capture button's digital signal
attached to the given loop.
"""
return self.button(Switch2GCController.Button.CAPTURE, loop)
[docs]
def c(self, loop: Optional[EventLoop] = None) -> Trigger:
"""
Constructs a Trigger instance around the C button's digital signal.
:param loop: the event loop instance to attach the Trigger to, defaults
to :func:`commands2.CommandScheduler.get_default_button_loop`
:returns: a Trigger instance representing the C button's digital signal
attached to the given loop.
"""
return self.button(Switch2GCController.Button.C, loop)
[docs]
def l(self, loop: Optional[EventLoop] = None) -> Trigger:
"""
Constructs a Trigger instance around the L button's digital signal.
:param loop: the event loop instance to attach the Trigger to, defaults
to :func:`commands2.CommandScheduler.get_default_button_loop`
:returns: a Trigger instance representing the L button's digital signal
attached to the given loop.
"""
return self.button(Switch2GCController.Button.L, loop)
[docs]
def r(self, loop: Optional[EventLoop] = None) -> Trigger:
"""
Constructs a Trigger instance around the R button's digital signal.
:param loop: the event loop instance to attach the Trigger to, defaults
to :func:`commands2.CommandScheduler.get_default_button_loop`
:returns: a Trigger instance representing the R button's digital signal
attached to the given loop.
"""
return self.button(Switch2GCController.Button.R, loop)
[docs]
def l_trigger(
self,
threshold: float = 0.5,
loop: Optional[EventLoop] = None,
) -> Trigger:
"""
Constructs a Trigger instance around the L Trigger axis value. The returned
Trigger will be true when the axis value is greater than ``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.get_default_button_loop`
:returns: a Trigger instance that is true when the L Trigger axis exceeds the
provided threshold, attached to the given event loop.
"""
return self.axis_greater_than(
Switch2GCController.Axis.L_TRIGGER,
threshold,
loop,
)
[docs]
def r_trigger(
self,
threshold: float = 0.5,
loop: Optional[EventLoop] = None,
) -> Trigger:
"""
Constructs a Trigger instance around the R Trigger axis value. The returned
Trigger will be true when the axis value is greater than ``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.get_default_button_loop`
:returns: a Trigger instance that is true when the R Trigger axis exceeds the
provided threshold, attached to the given event loop.
"""
return self.axis_greater_than(
Switch2GCController.Axis.R_TRIGGER,
threshold,
loop,
)
[docs]
def axis_less_than(
self,
axis: Switch2GCController.Axis,
threshold: float,
loop: Optional[EventLoop] = None,
) -> Trigger:
"""
Constructs a Trigger instance that is true when the axis value is less than
``threshold``, attached to the given loop.
:param axis: the :class:`wpilib.Switch2GCController.Axis` to read
:param threshold: the value below which this Trigger should return true.
:param loop: the event loop instance to attach the Trigger to
:returns: a Trigger instance that is true when the axis value is less than
the provided threshold.
"""
return self._hid.axis_less_than(axis.value, threshold, loop)
[docs]
def axis_greater_than(
self,
axis: Switch2GCController.Axis,
threshold: float,
loop: Optional[EventLoop] = None,
) -> Trigger:
"""
Constructs a Trigger instance that is true when the axis value is greater
than ``threshold``, attached to the given loop.
:param axis: the :class:`wpilib.Switch2GCController.Axis` to read
:param threshold: the value above which this Trigger should return true.
:param loop: the event loop instance to attach the Trigger to.
:returns: a Trigger instance that is true when the axis value is greater
than the provided threshold.
"""
return self._hid.axis_greater_than(axis.value, threshold, loop)
[docs]
def axis_magnitude_greater_than(
self,
axis: Switch2GCController.Axis,
threshold: float,
loop: Optional[EventLoop] = None,
) -> Trigger:
"""
Constructs a Trigger instance that is true when the axis magnitude is
greater than ``threshold``, attached to the given loop.
:param axis: the :class:`wpilib.Switch2GCController.Axis` to read
:param threshold: the value above which this Trigger should return true.
:param loop: the event loop instance to attach the Trigger to.
:returns: a Trigger instance that is true when the axis magnitude is
greater than the provided threshold.
"""
return self._hid.axis_magnitude_greater_than(axis.value, threshold, loop)
[docs]
def get_axis(self, axis: Switch2GCController.Axis) -> float:
"""
Get the value of the axis.
:param axis: the :class:`wpilib.Switch2GCController.Axis` to read
"""
return self._hid.get_raw_axis(axis.value)
[docs]
def get_left_x(self) -> float:
"""
Get the Left X value of the controller.
:returns: the axis value.
"""
return self._controller.get_left_x()
[docs]
def get_left_y(self) -> float:
"""
Get the Left Y value of the controller.
:returns: the axis value.
"""
return self._controller.get_left_y()
[docs]
def get_c_stick_x(self) -> float:
"""
Get the C Stick X value of the controller.
:returns: the axis value.
"""
return self._controller.get_c_stick_x()
[docs]
def get_c_stick_y(self) -> float:
"""
Get the C Stick Y value of the controller.
:returns: the axis value.
"""
return self._controller.get_c_stick_y()
[docs]
def get_l_trigger(self) -> float:
"""
Get the L Trigger value of the controller.
:returns: the axis value.
"""
return self._controller.get_l_trigger()
[docs]
def get_r_trigger(self) -> float:
"""
Get the R Trigger value of the controller.
:returns: the axis value.
"""
return self._controller.get_r_trigger()