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 PS4 controllers connected to the Driver Station.
012 *
013 * <p>This class handles PS4 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 PS4Controller extends GenericHID {
018  /**
019   * Construct an instance of a device.
020   *
021   * @param port The port index on the Driver Station that the device is plugged into.
022   */
023  public PS4Controller(int port) {
024    super(port);
025    HAL.report(tResourceType.kResourceType_PS4Controller, port + 1);
026  }
027
028  /** Represents a digital button on a PS4Controller. */
029  public enum Button {
030    kSquare(1),
031    kCross(2),
032    kCircle(3),
033    kTriangle(4),
034    kL1(5),
035    kR1(6),
036    kL2(7),
037    kR2(8),
038    kShare(9),
039    kOptions(10),
040    kL3(11),
041    kR3(12),
042    kPS(13),
043    kTouchpad(14);
044
045    public final int value;
046
047    Button(int index) {
048      this.value = index;
049    }
050
051    /**
052     * Get the human-friendly name of the button, matching the relevant methods. This is done by
053     * stripping the leading `k`, and if not the touchpad append `Button`.
054     *
055     * <p>Primarily used for automated unit tests.
056     *
057     * @return the human-friendly name of the button.
058     */
059    @Override
060    public String toString() {
061      var name = this.name().substring(1); // Remove leading `k`
062      if (this == kTouchpad) {
063        return name;
064      }
065      return name + "Button";
066    }
067  }
068
069  /** Represents an axis on a PS4Controller. */
070  public enum Axis {
071    kLeftX(0),
072    kLeftY(1),
073    kRightX(2),
074    kRightY(5),
075    kL2(3),
076    kR2(4);
077
078    public final int value;
079
080    Axis(int index) {
081      value = index;
082    }
083
084    /**
085     * Get the human-friendly name of the axis, matching the relevant methods. This is done by
086     * stripping the leading `k`, and if one of L2/R2 append `Axis`.
087     *
088     * <p>Primarily used for automated unit tests.
089     *
090     * @return the human-friendly name of the axis.
091     */
092    @Override
093    public String toString() {
094      var name = this.name().substring(1); // Remove leading `k`
095      if (name.endsWith("2")) {
096        return name + "Axis";
097      }
098      return name;
099    }
100  }
101
102  /**
103   * Get the X axis value of left side of the controller.
104   *
105   * @return the axis value.
106   */
107  public double getLeftX() {
108    return getRawAxis(Axis.kLeftX.value);
109  }
110
111  /**
112   * Get the X axis value of right side of the controller.
113   *
114   * @return the axis value.
115   */
116  public double getRightX() {
117    return getRawAxis(Axis.kRightX.value);
118  }
119
120  /**
121   * Get the Y axis value of left side of the controller.
122   *
123   * @return the axis value.
124   */
125  public double getLeftY() {
126    return getRawAxis(Axis.kLeftY.value);
127  }
128
129  /**
130   * Get the Y axis value of right side of the controller.
131   *
132   * @return the axis value.
133   */
134  public double getRightY() {
135    return getRawAxis(Axis.kRightY.value);
136  }
137
138  /**
139   * Get the L2 axis value of the controller. Note that this axis is bound to the range of [0, 1] as
140   * opposed to the usual [-1, 1].
141   *
142   * @return the axis value.
143   */
144  public double getL2Axis() {
145    return getRawAxis(Axis.kL2.value);
146  }
147
148  /**
149   * Get the R2 axis value of the controller. Note that this axis is bound to the range of [0, 1] as
150   * opposed to the usual [-1, 1].
151   *
152   * @return the axis value.
153   */
154  public double getR2Axis() {
155    return getRawAxis(Axis.kR2.value);
156  }
157
158  /**
159   * Read the value of the left trigger button on the controller.
160   *
161   * @return The state of the button.
162   */
163  public boolean getL2Button() {
164    return getRawButton(Button.kL2.value);
165  }
166
167  /**
168   * Read the value of the right trigger button on the controller.
169   *
170   * @return The state of the button.
171   */
172  public boolean getR2Button() {
173    return getRawButton(Button.kR2.value);
174  }
175
176  /**
177   * Whether the L2 button was pressed since the last check.
178   *
179   * @return Whether the button was pressed since the last check.
180   */
181  public boolean getL2ButtonPressed() {
182    return getRawButtonPressed(Button.kL2.value);
183  }
184
185  /**
186   * Whether the R2 button was pressed since the last check.
187   *
188   * @return Whether the button was pressed since the last check.
189   */
190  public boolean getR2ButtonPressed() {
191    return getRawButtonPressed(Button.kR2.value);
192  }
193
194  /**
195   * Whether the L2 button was released since the last check.
196   *
197   * @return Whether the button was released since the last check.
198   */
199  public boolean getL2ButtonReleased() {
200    return getRawButtonReleased(Button.kL2.value);
201  }
202
203  /**
204   * Whether the R2 button was released since the last check.
205   *
206   * @return Whether the button was released since the last check.
207   */
208  public boolean getR2ButtonReleased() {
209    return getRawButtonReleased(Button.kR2.value);
210  }
211
212  /**
213   * Read the value of the L1 button on the controller.
214   *
215   * @return The state of the button.
216   */
217  public boolean getL1Button() {
218    return getRawButton(Button.kL1.value);
219  }
220
221  /**
222   * Read the value of the R1 button on the controller.
223   *
224   * @return The state of the button.
225   */
226  public boolean getR1Button() {
227    return getRawButton(Button.kR1.value);
228  }
229
230  /**
231   * Whether the L1 button was pressed since the last check.
232   *
233   * @return Whether the button was pressed since the last check.
234   */
235  public boolean getL1ButtonPressed() {
236    return getRawButtonPressed(Button.kL1.value);
237  }
238
239  /**
240   * Whether the R1 button was pressed since the last check.
241   *
242   * @return Whether the button was pressed since the last check.
243   */
244  public boolean getR1ButtonPressed() {
245    return getRawButtonPressed(Button.kR1.value);
246  }
247
248  /**
249   * Whether the L1 button was released since the last check.
250   *
251   * @return Whether the button was released since the last check.
252   */
253  public boolean getL1ButtonReleased() {
254    return getRawButtonReleased(Button.kL1.value);
255  }
256
257  /**
258   * Whether the R1 button was released since the last check.
259   *
260   * @return Whether the button was released since the last check.
261   */
262  public boolean getR1ButtonReleased() {
263    return getRawButtonReleased(Button.kR1.value);
264  }
265
266  /**
267   * Read the value of the L3 button (pressing the left analog stick) on the controller.
268   *
269   * @return The state of the button.
270   */
271  public boolean getL3Button() {
272    return getRawButton(Button.kL3.value);
273  }
274
275  /**
276   * Read the value of the R3 button (pressing the right analog stick) on the controller.
277   *
278   * @return The state of the button.
279   */
280  public boolean getR3Button() {
281    return getRawButton(Button.kR3.value);
282  }
283
284  /**
285   * Whether the L3 (left stick) button was pressed since the last check.
286   *
287   * @return Whether the button was pressed since the last check.
288   */
289  public boolean getL3ButtonPressed() {
290    return getRawButtonPressed(Button.kL3.value);
291  }
292
293  /**
294   * Whether the R3 (right stick) button was pressed since the last check.
295   *
296   * @return Whether the button was pressed since the last check.
297   */
298  public boolean getR3ButtonPressed() {
299    return getRawButtonPressed(Button.kR3.value);
300  }
301
302  /**
303   * Whether the L3 (left stick) button was released since the last check.
304   *
305   * @return Whether the button was released since the last check.
306   */
307  public boolean getL3ButtonReleased() {
308    return getRawButtonReleased(Button.kL3.value);
309  }
310
311  /**
312   * Whether the R3 (right stick) button was released since the last check.
313   *
314   * @return Whether the button was released since the last check.
315   */
316  public boolean getR3ButtonReleased() {
317    return getRawButtonReleased(Button.kR3.value);
318  }
319
320  /**
321   * Read the value of the Square button on the controller.
322   *
323   * @return The state of the button.
324   */
325  public boolean getSquareButton() {
326    return getRawButton(Button.kSquare.value);
327  }
328
329  /**
330   * Whether the Square button was pressed since the last check.
331   *
332   * @return Whether the button was pressed since the last check.
333   */
334  public boolean getSquareButtonPressed() {
335    return getRawButtonPressed(Button.kSquare.value);
336  }
337
338  /**
339   * Whether the Square button was released since the last check.
340   *
341   * @return Whether the button was released since the last check.
342   */
343  public boolean getSquareButtonReleased() {
344    return getRawButtonReleased(Button.kSquare.value);
345  }
346
347  /**
348   * Read the value of the Cross button on the controller.
349   *
350   * @return The state of the button.
351   */
352  public boolean getCrossButton() {
353    return getRawButton(Button.kCross.value);
354  }
355
356  /**
357   * Whether the Cross button was pressed since the last check.
358   *
359   * @return Whether the button was pressed since the last check.
360   */
361  public boolean getCrossButtonPressed() {
362    return getRawButtonPressed(Button.kCross.value);
363  }
364
365  /**
366   * Whether the Cross button was released since the last check.
367   *
368   * @return Whether the button was released since the last check.
369   */
370  public boolean getCrossButtonReleased() {
371    return getRawButtonReleased(Button.kCross.value);
372  }
373
374  /**
375   * Read the value of the Triangle button on the controller.
376   *
377   * @return The state of the button.
378   */
379  public boolean getTriangleButton() {
380    return getRawButton(Button.kTriangle.value);
381  }
382
383  /**
384   * Whether the Triangle button was pressed since the last check.
385   *
386   * @return Whether the button was pressed since the last check.
387   */
388  public boolean getTriangleButtonPressed() {
389    return getRawButtonPressed(Button.kTriangle.value);
390  }
391
392  /**
393   * Whether the Triangle button was released since the last check.
394   *
395   * @return Whether the button was released since the last check.
396   */
397  public boolean getTriangleButtonReleased() {
398    return getRawButtonReleased(Button.kTriangle.value);
399  }
400
401  /**
402   * Read the value of the Circle button on the controller.
403   *
404   * @return The state of the button.
405   */
406  public boolean getCircleButton() {
407    return getRawButton(Button.kCircle.value);
408  }
409
410  /**
411   * Whether the Circle button was pressed since the last check.
412   *
413   * @return Whether the button was pressed since the last check.
414   */
415  public boolean getCircleButtonPressed() {
416    return getRawButtonPressed(Button.kCircle.value);
417  }
418
419  /**
420   * Whether the Circle button was released since the last check.
421   *
422   * @return Whether the button was released since the last check.
423   */
424  public boolean getCircleButtonReleased() {
425    return getRawButtonReleased(Button.kCircle.value);
426  }
427
428  /**
429   * Read the value of the share button on the controller.
430   *
431   * @return The state of the button.
432   */
433  public boolean getShareButton() {
434    return getRawButton(Button.kShare.value);
435  }
436
437  /**
438   * Whether the share button was pressed since the last check.
439   *
440   * @return Whether the button was pressed since the last check.
441   */
442  public boolean getShareButtonPressed() {
443    return getRawButtonPressed(Button.kShare.value);
444  }
445
446  /**
447   * Whether the share button was released since the last check.
448   *
449   * @return Whether the button was released since the last check.
450   */
451  public boolean getShareButtonReleased() {
452    return getRawButtonReleased(Button.kShare.value);
453  }
454
455  /**
456   * Read the value of the PS button on the controller.
457   *
458   * @return The state of the button.
459   */
460  public boolean getPSButton() {
461    return getRawButton(Button.kPS.value);
462  }
463
464  /**
465   * Whether the PS button was pressed since the last check.
466   *
467   * @return Whether the button was pressed since the last check.
468   */
469  public boolean getPSButtonPressed() {
470    return getRawButtonPressed(Button.kPS.value);
471  }
472
473  /**
474   * Whether the PS button was released since the last check.
475   *
476   * @return Whether the button was released since the last check.
477   */
478  public boolean getPSButtonReleased() {
479    return getRawButtonReleased(Button.kPS.value);
480  }
481
482  /**
483   * Read the value of the options button on the controller.
484   *
485   * @return The state of the button.
486   */
487  public boolean getOptionsButton() {
488    return getRawButton(Button.kOptions.value);
489  }
490
491  /**
492   * Whether the options button was pressed since the last check.
493   *
494   * @return Whether the button was pressed since the last check.
495   */
496  public boolean getOptionsButtonPressed() {
497    return getRawButtonPressed(Button.kOptions.value);
498  }
499
500  /**
501   * Whether the options button was released since the last check.
502   *
503   * @return Whether the button was released since the last check.
504   */
505  public boolean getOptionsButtonReleased() {
506    return getRawButtonReleased(Button.kOptions.value);
507  }
508
509  /**
510   * Read the value of the touchpad on the controller.
511   *
512   * @return The state of the touchpad.
513   */
514  public boolean getTouchpad() {
515    return getRawButton(Button.kTouchpad.value);
516  }
517
518  /**
519   * Whether the touchpad was pressed since the last check.
520   *
521   * @return Whether the touchpad was pressed since the last check.
522   */
523  public boolean getTouchpadPressed() {
524    return getRawButtonPressed(Button.kTouchpad.value);
525  }
526
527  /**
528   * Whether the touchpad was released since the last check.
529   *
530   * @return Whether the touchpad was released since the last check.
531   */
532  public boolean getTouchpadReleased() {
533    return getRawButtonReleased(Button.kTouchpad.value);
534  }
535}