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
005package edu.wpi.first.wpilibj;
006
007import edu.wpi.first.hal.FRCNetComm.tResourceType;
008import edu.wpi.first.hal.HAL;
009
010/**
011 * Handle input from Xbox 360 or Xbox One controllers connected to the Driver Station.
012 *
013 * <p>This class handles Xbox input that comes from the Driver Station. Each time a value is
014 * requested the most recent value is returned. There is a single class instance for each controller
015 * and the mapping of ports to hardware buttons depends on the code in the Driver Station.
016 */
017public class XboxController extends GenericHID {
018  /** Represents a digital button on an XboxController. */
019  public enum Button {
020    kLeftBumper(5),
021    kRightBumper(6),
022    kLeftStick(9),
023    kRightStick(10),
024    kA(1),
025    kB(2),
026    kX(3),
027    kY(4),
028    kBack(7),
029    kStart(8);
030
031    @SuppressWarnings("MemberName")
032    public final int value;
033
034    Button(int value) {
035      this.value = value;
036    }
037
038    /**
039     * Get the human-friendly name of the button, matching the relevant methods. This is done by
040     * stripping the leading `k`, and if not a Bumper button append `Button`.
041     *
042     * <p>Primarily used for automated unit tests.
043     *
044     * @return the human-friendly name of the button.
045     */
046    @Override
047    public String toString() {
048      var name = this.name().substring(1); // Remove leading `k`
049      if (name.endsWith("Bumper")) {
050        return name;
051      }
052      return name + "Button";
053    }
054  }
055
056  /** Represents an axis on an XboxController. */
057  public enum Axis {
058    kLeftX(0),
059    kRightX(4),
060    kLeftY(1),
061    kRightY(5),
062    kLeftTrigger(2),
063    kRightTrigger(3);
064
065    @SuppressWarnings("MemberName")
066    public final int value;
067
068    Axis(int value) {
069      this.value = value;
070    }
071
072    /**
073     * Get the human-friendly name of the axis, matching the relevant methods. This is done by
074     * stripping the leading `k`, and if a trigger axis append `Axis`.
075     *
076     * <p>Primarily used for automated unit tests.
077     *
078     * @return the human-friendly name of the axis.
079     */
080    @Override
081    public String toString() {
082      var name = this.name().substring(1); // Remove leading `k`
083      if (name.endsWith("Trigger")) {
084        return name + "Axis";
085      }
086      return name;
087    }
088  }
089
090  /**
091   * Construct an instance of a controller.
092   *
093   * @param port The port index on the Driver Station that the controller is plugged into.
094   */
095  public XboxController(final int port) {
096    super(port);
097
098    HAL.report(tResourceType.kResourceType_XboxController, port + 1);
099  }
100
101  /**
102   * Get the X axis value of left side of the controller.
103   *
104   * @return The axis value.
105   */
106  public double getLeftX() {
107    return getRawAxis(Axis.kLeftX.value);
108  }
109
110  /**
111   * Get the X axis value of right side of the controller.
112   *
113   * @return The axis value.
114   */
115  public double getRightX() {
116    return getRawAxis(Axis.kRightX.value);
117  }
118
119  /**
120   * Get the Y axis value of left side of the controller.
121   *
122   * @return The axis value.
123   */
124  public double getLeftY() {
125    return getRawAxis(Axis.kLeftY.value);
126  }
127
128  /**
129   * Get the Y axis value of right side of the controller.
130   *
131   * @return The axis value.
132   */
133  public double getRightY() {
134    return getRawAxis(Axis.kRightY.value);
135  }
136
137  /**
138   * Get the left trigger (LT) axis value of the controller. Note that this axis is bound to the
139   * range of [0, 1] as opposed to the usual [-1, 1].
140   *
141   * @return The axis value.
142   */
143  public double getLeftTriggerAxis() {
144    return getRawAxis(Axis.kLeftTrigger.value);
145  }
146
147  /**
148   * Get the right trigger (RT) axis value of the controller. Note that this axis is bound to the
149   * range of [0, 1] as opposed to the usual [-1, 1].
150   *
151   * @return The axis value.
152   */
153  public double getRightTriggerAxis() {
154    return getRawAxis(Axis.kRightTrigger.value);
155  }
156
157  /**
158   * Read the value of the left bumper (LB) button on the controller.
159   *
160   * @return The state of the button.
161   */
162  public boolean getLeftBumper() {
163    return getRawButton(Button.kLeftBumper.value);
164  }
165
166  /**
167   * Read the value of the right bumper (RB) button on the controller.
168   *
169   * @return The state of the button.
170   */
171  public boolean getRightBumper() {
172    return getRawButton(Button.kRightBumper.value);
173  }
174
175  /**
176   * Whether the left bumper (LB) was pressed since the last check.
177   *
178   * @return Whether the button was pressed since the last check.
179   */
180  public boolean getLeftBumperPressed() {
181    return getRawButtonPressed(Button.kLeftBumper.value);
182  }
183
184  /**
185   * Whether the right bumper (RB) was pressed since the last check.
186   *
187   * @return Whether the button was pressed since the last check.
188   */
189  public boolean getRightBumperPressed() {
190    return getRawButtonPressed(Button.kRightBumper.value);
191  }
192
193  /**
194   * Whether the left bumper (LB) was released since the last check.
195   *
196   * @return Whether the button was released since the last check.
197   */
198  public boolean getLeftBumperReleased() {
199    return getRawButtonReleased(Button.kLeftBumper.value);
200  }
201
202  /**
203   * Whether the right bumper (RB) was released since the last check.
204   *
205   * @return Whether the button was released since the last check.
206   */
207  public boolean getRightBumperReleased() {
208    return getRawButtonReleased(Button.kRightBumper.value);
209  }
210
211  /**
212   * Read the value of the left stick button (LSB) on the controller.
213   *
214   * @return The state of the button.
215   */
216  public boolean getLeftStickButton() {
217    return getRawButton(Button.kLeftStick.value);
218  }
219
220  /**
221   * Read the value of the right stick button (RSB) on the controller.
222   *
223   * @return The state of the button.
224   */
225  public boolean getRightStickButton() {
226    return getRawButton(Button.kRightStick.value);
227  }
228
229  /**
230   * Whether the left stick button (LSB) was pressed since the last check.
231   *
232   * @return Whether the button was pressed since the last check.
233   */
234  public boolean getLeftStickButtonPressed() {
235    return getRawButtonPressed(Button.kLeftStick.value);
236  }
237
238  /**
239   * Whether the right stick button (RSB) was pressed since the last check.
240   *
241   * @return Whether the button was pressed since the last check.
242   */
243  public boolean getRightStickButtonPressed() {
244    return getRawButtonPressed(Button.kRightStick.value);
245  }
246
247  /**
248   * Whether the left stick button (LSB) was released since the last check.
249   *
250   * @return Whether the button was released since the last check.
251   */
252  public boolean getLeftStickButtonReleased() {
253    return getRawButtonReleased(Button.kLeftStick.value);
254  }
255
256  /**
257   * Whether the right stick (RSB) button was released since the last check.
258   *
259   * @return Whether the button was released since the last check.
260   */
261  public boolean getRightStickButtonReleased() {
262    return getRawButtonReleased(Button.kRightStick.value);
263  }
264
265  /**
266   * Read the value of the A button on the controller.
267   *
268   * @return The state of the button.
269   */
270  public boolean getAButton() {
271    return getRawButton(Button.kA.value);
272  }
273
274  /**
275   * Whether the A button was pressed since the last check.
276   *
277   * @return Whether the button was pressed since the last check.
278   */
279  public boolean getAButtonPressed() {
280    return getRawButtonPressed(Button.kA.value);
281  }
282
283  /**
284   * Whether the A button was released since the last check.
285   *
286   * @return Whether the button was released since the last check.
287   */
288  public boolean getAButtonReleased() {
289    return getRawButtonReleased(Button.kA.value);
290  }
291
292  /**
293   * Read the value of the B button on the controller.
294   *
295   * @return The state of the button.
296   */
297  public boolean getBButton() {
298    return getRawButton(Button.kB.value);
299  }
300
301  /**
302   * Whether the B button was pressed since the last check.
303   *
304   * @return Whether the button was pressed since the last check.
305   */
306  public boolean getBButtonPressed() {
307    return getRawButtonPressed(Button.kB.value);
308  }
309
310  /**
311   * Whether the B button was released since the last check.
312   *
313   * @return Whether the button was released since the last check.
314   */
315  public boolean getBButtonReleased() {
316    return getRawButtonReleased(Button.kB.value);
317  }
318
319  /**
320   * Read the value of the X button on the controller.
321   *
322   * @return The state of the button.
323   */
324  public boolean getXButton() {
325    return getRawButton(Button.kX.value);
326  }
327
328  /**
329   * Whether the X button was pressed since the last check.
330   *
331   * @return Whether the button was pressed since the last check.
332   */
333  public boolean getXButtonPressed() {
334    return getRawButtonPressed(Button.kX.value);
335  }
336
337  /**
338   * Whether the X button was released since the last check.
339   *
340   * @return Whether the button was released since the last check.
341   */
342  public boolean getXButtonReleased() {
343    return getRawButtonReleased(Button.kX.value);
344  }
345
346  /**
347   * Read the value of the Y button on the controller.
348   *
349   * @return The state of the button.
350   */
351  public boolean getYButton() {
352    return getRawButton(Button.kY.value);
353  }
354
355  /**
356   * Whether the Y button was pressed since the last check.
357   *
358   * @return Whether the button was pressed since the last check.
359   */
360  public boolean getYButtonPressed() {
361    return getRawButtonPressed(Button.kY.value);
362  }
363
364  /**
365   * Whether the Y button was released since the last check.
366   *
367   * @return Whether the button was released since the last check.
368   */
369  public boolean getYButtonReleased() {
370    return getRawButtonReleased(Button.kY.value);
371  }
372
373  /**
374   * Read the value of the back button on the controller.
375   *
376   * @return The state of the button.
377   */
378  public boolean getBackButton() {
379    return getRawButton(Button.kBack.value);
380  }
381
382  /**
383   * Whether the back button was pressed since the last check.
384   *
385   * @return Whether the button was pressed since the last check.
386   */
387  public boolean getBackButtonPressed() {
388    return getRawButtonPressed(Button.kBack.value);
389  }
390
391  /**
392   * Whether the back button was released since the last check.
393   *
394   * @return Whether the button was released since the last check.
395   */
396  public boolean getBackButtonReleased() {
397    return getRawButtonReleased(Button.kBack.value);
398  }
399
400  /**
401   * Read the value of the start button on the controller.
402   *
403   * @return The state of the button.
404   */
405  public boolean getStartButton() {
406    return getRawButton(Button.kStart.value);
407  }
408
409  /**
410   * Whether the start button was pressed since the last check.
411   *
412   * @return Whether the button was pressed since the last check.
413   */
414  public boolean getStartButtonPressed() {
415    return getRawButtonPressed(Button.kStart.value);
416  }
417
418  /**
419   * Whether the start button was released since the last check.
420   *
421   * @return Whether the button was released since the last check.
422   */
423  public boolean getStartButtonReleased() {
424    return getRawButtonReleased(Button.kStart.value);
425  }
426}