Package ca.team3161.lib.utils.controls

Class AbstractController

java.lang.Object

ca.team3161.lib.robot.subsystem.AbstractSubsystem

ca.team3161.lib.robot.subsystem.AbstractIndependentSubsystem

ca.team3161.lib.robot.subsystem.RepeatingIndependentSubsystem

ca.team3161.lib.utils.controls.AbstractController

All Implemented Interfaces:

LifecycleListener, Subsystem, Gamepad

Direct Known Subclasses:

LogitechAttack3, LogitechDualAction

public abstract class AbstractController
extends RepeatingIndependentSubsystem
implements Gamepad, LifecycleListener

A Gamepad which allows button bindings and control modes.

Nested Class Summary

Nested classes/interfaces inherited from class ca.team3161.lib.robot.subsystem.AbstractSubsystem

AbstractSubsystem.RunTask

Nested classes/interfaces inherited from interface ca.team3161.lib.utils.controls.Gamepad

Gamepad.Axis, Gamepad.Binding, Gamepad.Button, Gamepad.Control, Gamepad.Mapping, Gamepad.PressType

Field Summary

Fields

Modifier and Type	Field	Description
protected edu.wpi.first.wpilibj.GenericHID	backingHID
protected static java.util.BitSet	BOUND_PORTS
protected java.util.Map<Gamepad.Binding,java.lang.Runnable>	buttonBindings
protected java.util.Map<Gamepad.Button,java.lang.Boolean>	buttonStates
protected java.util.Map<Gamepad.Mapping,java.util.function.Consumer<java.lang.Double>>	controlsMapping
protected java.util.Map<Gamepad.Mapping,java.util.function.Function<java.lang.Double,java.lang.Double>>	controlsModeMap
protected int	port

Fields inherited from class ca.team3161.lib.robot.subsystem.AbstractSubsystem

job, resourceLocks, THREAD_PRIORITY

Constructor Summary

Constructors

Modifier	Constructor	Description
protected	AbstractController(int port, long timeout, java.util.concurrent.TimeUnit timeUnit)

Method Summary

Modifier and Type	Method	Description
void	defineResources()	Define the set of resourceLocks required for this Subsystem's task.
void	disableBindings()	Disable button bindings.
void	enableBindings()	Enable button bindings.
edu.wpi.first.wpilibj.GenericHID	getBackingHID()	Get the backing input device of this Gamepad.
protected abstract java.util.Set<Gamepad.Button>	getButtons()	Get the set of Buttons on this controller.
int	getPort()	Get the USB port (as numbered in the Driver Station) that this Gamepad is plugged into.
void	onLifecycleChange(LifecycleEvent event)
void	task()	The background task to run.

Methods inherited from class ca.team3161.lib.robot.subsystem.RepeatingIndependentSubsystem

isDone, start

Methods inherited from class ca.team3161.lib.robot.subsystem.AbstractIndependentSubsystem

getExecutorService

Methods inherited from class ca.team3161.lib.robot.subsystem.AbstractSubsystem

acquireResources, cancel, getJob, isCancelled, isScheduled, isStarted, releaseResources, require

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Methods inherited from interface ca.team3161.lib.utils.controls.Gamepad

bind, bind, bind, bind, bind, getButton, getValue, getValue, hasBinding, hasBinding, hasBinding, hasBinding, map, map, setMode, setMode, setMode, setMode, unbind, unbind, unbind, unbind

Field Detail

backingHID

protected final edu.wpi.first.wpilibj.GenericHID backingHID

controlsModeMap

protected final java.util.Map<Gamepad.Mapping,java.util.function.Function<java.lang.Double,java.lang.Double>> controlsModeMap

controlsMapping

protected final java.util.Map<Gamepad.Mapping,java.util.function.Consumer<java.lang.Double>> controlsMapping

buttonBindings

protected final java.util.Map<Gamepad.Binding,java.lang.Runnable> buttonBindings

buttonStates

protected final java.util.Map<Gamepad.Button,java.lang.Boolean> buttonStates

port

protected final int port

BOUND_PORTS

protected static final java.util.BitSet BOUND_PORTS

Constructor Detail

AbstractController

protected AbstractController(int port,
                             long timeout,
                             java.util.concurrent.TimeUnit timeUnit)

Method Detail

getBackingHID

public edu.wpi.first.wpilibj.GenericHID getBackingHID()

Get the backing input device of this Gamepad.

Specified by:

getBackingHID in interface Gamepad

Returns:

the backing input device, eg Joystick

getPort

public int getPort()

Get the USB port (as numbered in the Driver Station) that this Gamepad is plugged into.

Specified by:

getPort in interface Gamepad

Returns:

the USB port number

enableBindings

public void enableBindings()

Enable button bindings. If bindings are not enabled, then no bound actions will be executed. By default, bindings are not enabled.

Specified by:

enableBindings in interface Gamepad

disableBindings

public void disableBindings()

Disable button bindings. If bindings are not enabled, then no bound actions will be executed. By default, bindings are not enabled.

Specified by:

disableBindings in interface Gamepad

defineResources

public void defineResources()

Define the set of resourceLocks required for this Subsystem's task.

Specified by:

defineResources in interface Subsystem

See Also:

AbstractSubsystem.require(Object)

getButtons

protected abstract java.util.Set<Gamepad.Button> getButtons()

Get the set of Buttons on this controller.

Returns:

a set of Buttons

task

public void task()
          throws java.lang.Exception

Description copied from interface: Subsystem

The background task to run.

Specified by:

task in interface Subsystem

Throws:

java.lang.Exception - in case the defined task throws any Exceptions

onLifecycleChange

public void onLifecycleChange(LifecycleEvent event)

Specified by:

onLifecycleChange in interface LifecycleListener