Trigger

class wpilib.buttons.Trigger(addLiveWindow=True)

Bases: wpilib.SendableBase

This class provides an easy way to link commands to inputs.

It is very easy to link a button to a command. For instance, you could link the trigger button of a joystick to a “score” command.

It is encouraged that teams write a subclass of Trigger if they want to have something unusual (for instance, if they want to react to the user holding a button while the robot is reading a certain sensor input). For this, they only have to write the get() method to get the full functionality of the Trigger class.

Creates an instance of the sensor base.

Parameters:addLiveWindow – if true, add this Sendable to LiveWindow

cancelWhenActive(command)

Cancels a command when the trigger becomes active.

Parameters:command (Command) – the command to cancel Return type:None

get()

Returns whether or not the trigger is active

This method will be called repeatedly a command is linked to the Trigger.

Return type:bool Returns:whether or not the trigger condition is active.

grab()

Returns whether get() returns True or the internal table for SmartDashboard use is pressed.

Return type:bool

initSendable(builder)

toggleWhenActive(command)

Toggles a command when the trigger becomes active.

Parameters:command (Command) – the command to toggle

whenActive(command)

Starts the given command whenever the trigger just becomes active.

Parameters:command (Command) – the command to start Return type:None

whenInactive(command)

Starts the command when the trigger becomes inactive.

Parameters:command (Command) – the command to start

whileActive(command)

Constantly starts the given command while the button is held.

Command.start() will be called repeatedly while the trigger is active, and will be canceled when the trigger becomes inactive.

Parameters:command – the command to start