#include <xbox_controller.h>

Inheritance diagram for argos_lib::XboxController:

Classes
struct	DPadButtons
	Parsed directional pad button states. More...

struct	UpdateStatus
	State of an individual button. More...

Public Types
enum class	JoystickHand { kLeftHand , kRightHand }
	Replaces legacy joystick hand API for WPILib. More...

enum class	Button { kA = 1 , kB = 2 , kX = 3 , kY = 4 , kBumperLeft = 5 , kBumperRight = 6 , kBack = 7 , kStart = 8 , kStickLeft = 9 , kStickRight = 10 , kLeftTrigger = 11 , kRightTrigger = 12 , kUp = 13 , kRight = 14 , kDown = 15 , kLeft = 16 , COUNT }

enum class	Axis { kLeftX = 0 , kLeftY = 1 , kLeftTrigger = 2 , kRightTrigger = 3 , kRightX = 4 , kRightY = 5 , COUNT }

Public Member Functions
	XboxController ()=delete

	XboxController (int port)
	Construct a new Xbox Controller object connected at port index.

void	SetButtonDebounce (Button targetButton, DebounceSettings newSettings)
	Configure debounce for a specified button.

void	SwapSettings (XboxController &other)
	Swap all configurations (debounce, etc) between this and other controller. Useful in conjunction with argos_lib::SwappableControllersSubsystem.

double	GetX (JoystickHand hand) const
	Get X joystick percent from specified joystick.

double	GetY (JoystickHand hand) const
	Get Y joystick percent from specified joystick.

double	GetTriggerAxis (JoystickHand hand) const
	Get percent from specified controller trigger button.

bool	GetDebouncedButton (Button buttonIdx)
	Get the status of button after applying debounce.

bool	GetDebouncedButtonPressed (Button buttonIdx)
	Detect if a button just transitioned from inactive to active after applying debounce.

bool	GetDebouncedButtonReleased (Button buttonIdx)
	Detect if a button just transitioned from active to inactive after applying debounce.

bool	GetDebouncedButton (std::vector< Button > buttonCombo)
	Get the status of a combination of buttons after applying debounce. Raw combo button state is active when all buttons are simultaneously active based on their independent debounce settings.

bool	GetDebouncedButtonPressed (std::vector< Button > buttonCombo)
	Detect if a combination of buttons just transitioned from inactive to active after applying debounce. Raw combo button state is active when all buttons are simultaneously active based on their independent debounce settings.

bool	GetDebouncedButtonReleased (std::vector< Button > buttonCombo)
	Detect if a combination of buttons just transitioned from active to inactive after applying debounce. Raw combo button state is active when all buttons are simultaneously active based on their independent debounce settings.

bool	GetRawButton (Button buttonIdx)
	Get the status of button.

bool	GetRawButtonPressed (Button buttonIdx)
	Detect if a button just transitioned from inactive to active.

bool	GetRawButtonReleased (Button buttonIdx)
	Detect if a button just transitioned from active to inactive.

bool	GetRawButton (std::vector< Button > buttonCombo)
	Get the status of a combination of buttons ignoring debounce. Raw combo button state is active when all buttons are simultaneously active.

bool	GetRawButtonPressed (std::vector< Button > buttonCombo)
	Detect if a combination of buttons just transitioned from inactive to active. Raw combo button state is active when all buttons are simultaneously active.

bool	GetRawButtonReleased (std::vector< Button > buttonCombo)
	Detect if a combination of buttons just transitioned from active to inactive. Raw combo button state is active when all buttons are simultaneously active.

VibrationModel	GetVibration () const
	Get the active vibration model.

void	SetVibration (VibrationModel newVibrationModel)
	Sets a new vibration pattern and updates vibration output based on that new model.

void	UpdateVibration ()
	Update vibration output based on current vibration model.

UpdateStatus	UpdateButton (Button buttonIdx)
	Determines the new status of a button. This is used by the other status retrieval functions.

frc2::Trigger	TriggerRaw (Button button)
	Generates a trigger that is true when button is true.

frc2::Trigger	TriggerRaw (std::vector< Button > buttonCombo)
	Generates a trigger that is true when all buttons in buttonCombo are true.

frc2::Trigger	TriggerRawAnyOf (std::vector< Button > buttonCombo)
	Trigger when any of the selected buttons' raw value is true.

frc2::Trigger	TriggerRawAllOf (std::vector< Button > buttonCombo)
	Trigger when all of the selected buttons' raw values are true.

frc2::Trigger	TriggerRawNoneOf (std::vector< Button > buttonCombo)
	Trigger when none of the selected buttons' raw value is true.

frc2::Trigger	TriggerRawOneOf (std::vector< Button > buttonCombo)
	Trigger when exactly one of the selected buttons' raw value is true.

frc2::Trigger	TriggerDebounced (Button button)
	Generates a trigger that is true when debounced button is true.

frc2::Trigger	TriggerDebounced (std::vector< Button > buttonCombo)
	Generates a trigger that is true when all debounced buttons in buttonCombo are true.

frc2::Trigger	TriggerDebouncedAnyOf (std::vector< Button > buttonCombo)
	Trigger when any of the selected buttons' debounced value is true.

frc2::Trigger	TriggerDebouncedAllOf (std::vector< Button > buttonCombo)
	Trigger when all of the selected buttons' debounced values are true.

frc2::Trigger	TriggerDebouncedNoneOf (std::vector< Button > buttonCombo)
	Trigger when none of the selected buttons' debounced value is true.

frc2::Trigger	TriggerDebouncedOneOf (std::vector< Button > buttonCombo)
	Trigger when exactly one of the selected buttons' debounced value is true.

Private Member Functions
DPadButtons	GetPOVButtons ()
	Convert POV angle to usable DPad button values.

frc2::Trigger	TriggerAnyOf (std::vector< Button > buttonCombo, std::function< bool(Button)> buttonGetterFunc)
	Trigger when any of the selected buttons is true according to the supplied buttonGetterFunc.

frc2::Trigger	TriggerAllOf (std::vector< Button > buttonCombo, std::function< bool(Button)> buttonGetterFunc)
	Trigger when all of the selected buttons is true according to the supplied buttonGetterFunc.

frc2::Trigger	TriggerNoneOf (std::vector< Button > buttonCombo, std::function< bool(Button)> buttonGetterFunc)
	Trigger when none of the selected buttons is true according to the supplied buttonGetterFunc.

frc2::Trigger	TriggerOneOf (std::vector< Button > buttonCombo, std::function< bool(Button)> buttonGetterFunc)
	Trigger when exactly one of the selected buttons is true according to the supplied buttonGetterFunc.

Private Attributes
std::array< DebounceSettings, static_cast< int >(Button::COUNT)>	m_buttonDebounceSettings

std::array< bool, static_cast< int >(Button::COUNT)>	m_buttonDebounceStatus

std::array< bool, static_cast< int >(Button::COUNT)>	m_rawButtonStatus

std::array< std::chrono::time_point< std::chrono::steady_clock >, static_cast< int >(Button::COUNT)>	m_buttonDebounceTransitionTime
	Time when new value was first seen.

VibrationModel	m_vibrationModel
	Active vibration model.

Static Private Attributes
static constexpr double	analogTriggerThresh = 0.5
	Percent trigger pressed to consider as a button press.

Member Enumeration Documentation

◆ Axis

enum class argos_lib::XboxController::Axis

strong

Enumerator
kLeftX
kLeftY
kLeftTrigger
kRightTrigger
kRightX
kRightY
COUNT

◆ Button

enum class argos_lib::XboxController::Button

strong

Enumerator
kA
kB
kX
kY
kBumperLeft
kBumperRight
kBack
kStart
kStickLeft
kStickRight
kLeftTrigger	virtual button
kRightTrigger	virtual button
kUp	virtual button
kRight	virtual button
kDown	virtual button
kLeft	virtual button
COUNT

◆ JoystickHand

enum class argos_lib::XboxController::JoystickHand

strong

Replaces legacy joystick hand API for WPILib.

Enumerator
kLeftHand
kRightHand

Constructor & Destructor Documentation

◆ XboxController() [1/2]

argos_lib::XboxController::XboxController ( )

delete

◆ XboxController() [2/2]

XboxController::XboxController ( int port )

explicit

Construct a new Xbox Controller object connected at port index.

Parameters

port	Index of new controller

Member Function Documentation

◆ GetDebouncedButton() [1/2]

bool XboxController::GetDebouncedButton ( Button buttonIdx )

Get the status of button after applying debounce.

Parameters

buttonIdx Index of requested button

Returns: debounced status

◆ GetDebouncedButton() [2/2]

bool XboxController::GetDebouncedButton ( std::vector< Button > buttonCombo )

Get the status of a combination of buttons after applying debounce. Raw combo button state is active when all buttons are simultaneously active based on their independent debounce settings.

Parameters

buttonCombo Buttons that make up the combination

Returns: debounced status

◆ GetDebouncedButtonPressed() [1/2]

bool XboxController::GetDebouncedButtonPressed ( Button buttonIdx )

Detect if a button just transitioned from inactive to active after applying debounce.

Parameters

buttonIdx Index of requested button

Returns: true if inactive to active transition occurred

◆ GetDebouncedButtonPressed() [2/2]

bool XboxController::GetDebouncedButtonPressed ( std::vector< Button > buttonCombo )

Detect if a combination of buttons just transitioned from inactive to active after applying debounce. Raw combo button state is active when all buttons are simultaneously active based on their independent debounce settings.

Parameters

buttonCombo Buttons that make up the combination

Returns: true if combination transition to active occurred

◆ GetDebouncedButtonReleased() [1/2]

bool XboxController::GetDebouncedButtonReleased ( Button buttonIdx )

Detect if a button just transitioned from active to inactive after applying debounce.

Parameters

buttonIdx Index of requested button

Returns: true if active to inactive transition occurred

◆ GetDebouncedButtonReleased() [2/2]

bool XboxController::GetDebouncedButtonReleased ( std::vector< Button > buttonCombo )

Detect if a combination of buttons just transitioned from active to inactive after applying debounce. Raw combo button state is active when all buttons are simultaneously active based on their independent debounce settings.

Parameters

buttonCombo Buttons that make up the combination

Returns: true if combination transition to inactive occurred

◆ GetPOVButtons()

XboxController::DPadButtons XboxController::GetPOVButtons ( )

private

Convert POV angle to usable DPad button values.

Returns: DPadButtons Active status for each cardinal direction

◆ GetRawButton() [1/2]

bool XboxController::GetRawButton ( Button buttonIdx )

Get the status of button.

Parameters

buttonIdx Index of requested button

Returns: Status ignoring any debounce

◆ GetRawButton() [2/2]

bool XboxController::GetRawButton ( std::vector< Button > buttonCombo )

Get the status of a combination of buttons ignoring debounce. Raw combo button state is active when all buttons are simultaneously active.

Parameters

buttonCombo Buttons that make up the combination

Returns: Status ignoring any debounce

◆ GetRawButtonPressed() [1/2]

bool XboxController::GetRawButtonPressed ( Button buttonIdx )

Detect if a button just transitioned from inactive to active.

Parameters

buttonIdx Index of requested button

Returns: true if inactive to active transition occurred

◆ GetRawButtonPressed() [2/2]

bool XboxController::GetRawButtonPressed ( std::vector< Button > buttonCombo )

Detect if a combination of buttons just transitioned from inactive to active. Raw combo button state is active when all buttons are simultaneously active.

Parameters

buttonCombo Buttons that make up the combination

Returns: true if combination transition to active occurred

◆ GetRawButtonReleased() [1/2]

bool XboxController::GetRawButtonReleased ( Button buttonIdx )

Detect if a button just transitioned from active to inactive.

Parameters

buttonIdx Index of requested button

Returns: true if active to inactive transition occurred

◆ GetRawButtonReleased() [2/2]

bool XboxController::GetRawButtonReleased ( std::vector< Button > buttonCombo )

Detect if a combination of buttons just transitioned from active to inactive. Raw combo button state is active when all buttons are simultaneously active.

Parameters

buttonCombo Buttons that make up the combination

Returns: true if combination transition to inactive occurred

◆ GetTriggerAxis()

double XboxController::GetTriggerAxis ( JoystickHand hand ) const

Get percent from specified controller trigger button.

Parameters

hand	Left or right trigger

Returns: double Percent [0,1]

◆ GetVibration()

VibrationModel XboxController::GetVibration ( ) const

Get the active vibration model.

Returns: Active vibration model

◆ GetX()

double XboxController::GetX ( JoystickHand hand ) const

Get X joystick percent from specified joystick.

Parameters

hand	Left or right joystick

Returns: double Percent [-1,1]

◆ GetY()

double XboxController::GetY ( JoystickHand hand ) const

Get Y joystick percent from specified joystick.

Parameters

hand	Left or right joystick

Returns: double Percent [-1,1]

◆ SetButtonDebounce()

void XboxController::SetButtonDebounce	(	Button	targetButton,
		DebounceSettings	newSettings
	)

Configure debounce for a specified button.

Parameters

targetButton	Button to configure
newSettings	New debounce configuration

◆ SetVibration()

void XboxController::SetVibration ( VibrationModel newVibrationModel )

Sets a new vibration pattern and updates vibration output based on that new model.

Parameters

newVibrationModel Model to generate vibration output

◆ SwapSettings()

void XboxController::SwapSettings ( XboxController & other )

Swap all configurations (debounce, etc) between this and other controller. Useful in conjunction with argos_lib::SwappableControllersSubsystem.

Parameters

other Controller to swap settings with

◆ TriggerAllOf()

frc2::Trigger XboxController::TriggerAllOf	(	std::vector< Button >	buttonCombo,
		std::function< bool(Button)>	buttonGetterFunc
	)

private

Trigger when all of the selected buttons is true according to the supplied buttonGetterFunc.

Parameters

buttonCombo	Buttons to check
buttonGetterFunc	Function to evaluate to determine button state

Returns: frc2::Trigger Trigger indicating all buttons are true

◆ TriggerAnyOf()

frc2::Trigger XboxController::TriggerAnyOf	(	std::vector< Button >	buttonCombo,
		std::function< bool(Button)>	buttonGetterFunc
	)

private

Trigger when any of the selected buttons is true according to the supplied buttonGetterFunc.

Parameters

buttonCombo	Buttons to check
buttonGetterFunc	Function to evaluate to determine button state

Returns: frc2::Trigger Trigger indicating any button is true

◆ TriggerDebounced() [1/2]

frc2::Trigger XboxController::TriggerDebounced ( Button button )

Generates a trigger that is true when debounced button is true.

Parameters

button Button to monitor

Returns: frc2::Trigger Trigger to monitor debounced button

◆ TriggerDebounced() [2/2]

frc2::Trigger XboxController::TriggerDebounced ( std::vector< Button > buttonCombo )

Generates a trigger that is true when all debounced buttons in buttonCombo are true.

Parameters

buttonCombo Buttons to monitor

Returns: frc2::Trigger Trigger to monitor debounced buttons

◆ TriggerDebouncedAllOf()

frc2::Trigger XboxController::TriggerDebouncedAllOf ( std::vector< Button > buttonCombo )

Trigger when all of the selected buttons' debounced values are true.

Parameters

buttonCombo Buttons to check

Returns: frc2::Trigger Trigger indicating all button debounced values are true

◆ TriggerDebouncedAnyOf()

frc2::Trigger XboxController::TriggerDebouncedAnyOf ( std::vector< Button > buttonCombo )

Trigger when any of the selected buttons' debounced value is true.

Parameters

buttonCombo Buttons to check

Returns: frc2::Trigger Trigger indicating any button debounced value is true

◆ TriggerDebouncedNoneOf()

frc2::Trigger XboxController::TriggerDebouncedNoneOf ( std::vector< Button > buttonCombo )

Trigger when none of the selected buttons' debounced value is true.

Parameters

buttonCombo Buttons to check

Returns: frc2::Trigger Trigger indicating none button debounced value is true

◆ TriggerDebouncedOneOf()

frc2::Trigger XboxController::TriggerDebouncedOneOf ( std::vector< Button > buttonCombo )

Trigger when exactly one of the selected buttons' debounced value is true.

Parameters

buttonCombo Buttons to check

Returns: frc2::Trigger Trigger indicating one button's debounced value is true

◆ TriggerNoneOf()

frc2::Trigger XboxController::TriggerNoneOf	(	std::vector< Button >	buttonCombo,
		std::function< bool(Button)>	buttonGetterFunc
	)

private

Trigger when none of the selected buttons is true according to the supplied buttonGetterFunc.

Parameters

buttonCombo	Buttons to check
buttonGetterFunc	Function to evaluate to determine button state

Returns: frc2::Trigger Trigger indicating no button is true

◆ TriggerOneOf()

frc2::Trigger XboxController::TriggerOneOf	(	std::vector< Button >	buttonCombo,
		std::function< bool(Button)>	buttonGetterFunc
	)

private

Trigger when exactly one of the selected buttons is true according to the supplied buttonGetterFunc.

Parameters

buttonCombo	Buttons to check
buttonGetterFunc	Function to evaluate to determine button state

Returns: frc2::Trigger Trigger indicating one button is true

◆ TriggerRaw() [1/2]

frc2::Trigger XboxController::TriggerRaw ( Button button )

Generates a trigger that is true when button is true.

Parameters

button Button to monitor

Returns: frc2::Trigger Trigger to monitor button

◆ TriggerRaw() [2/2]

frc2::Trigger XboxController::TriggerRaw ( std::vector< Button > buttonCombo )

Generates a trigger that is true when all buttons in buttonCombo are true.

Parameters

buttonCombo Buttons to monitor

Returns: frc2::Trigger Trigger to monitor buttons

◆ TriggerRawAllOf()

frc2::Trigger XboxController::TriggerRawAllOf ( std::vector< Button > buttonCombo )

Trigger when all of the selected buttons' raw values are true.

Parameters

buttonCombo Buttons to check

Returns: frc2::Trigger Trigger indicating all button raw values are true

◆ TriggerRawAnyOf()

frc2::Trigger XboxController::TriggerRawAnyOf ( std::vector< Button > buttonCombo )

Trigger when any of the selected buttons' raw value is true.

Parameters

buttonCombo Buttons to check

Returns: frc2::Trigger Trigger indicating any button raw value is true

◆ TriggerRawNoneOf()

frc2::Trigger XboxController::TriggerRawNoneOf ( std::vector< Button > buttonCombo )

Trigger when none of the selected buttons' raw value is true.

Parameters

buttonCombo Buttons to check

Returns: frc2::Trigger Trigger indicating none button raw value is true

◆ TriggerRawOneOf()

frc2::Trigger XboxController::TriggerRawOneOf ( std::vector< Button > buttonCombo )

Trigger when exactly one of the selected buttons' raw value is true.

Parameters

buttonCombo Buttons to check

Returns: frc2::Trigger Trigger indicating one button's raw value is true

◆ UpdateButton()

XboxController::UpdateStatus XboxController::UpdateButton ( Button buttonIdx )

Determines the new status of a button. This is used by the other status retrieval functions.

Parameters

buttonIdx Index of button to update

Returns: UpdateStatus Full button state

◆ UpdateVibration()

void XboxController::UpdateVibration ( )

Update vibration output based on current vibration model.

Member Data Documentation

◆ analogTriggerThresh

constexpr double argos_lib::XboxController::analogTriggerThresh = 0.5

staticconstexprprivate

Percent trigger pressed to consider as a button press.

◆ m_buttonDebounceSettings

std::array<DebounceSettings, static_cast<int>(Button::COUNT)> argos_lib::XboxController::m_buttonDebounceSettings

private

◆ m_buttonDebounceStatus

std::array<bool, static_cast<int>(Button::COUNT)> argos_lib::XboxController::m_buttonDebounceStatus

private

◆ m_buttonDebounceTransitionTime

std::array<std::chrono::time_point<std::chrono::steady_clock>, static_cast<int>(Button::COUNT)> argos_lib::XboxController::m_buttonDebounceTransitionTime

private

Time when new value was first seen.

◆ m_rawButtonStatus

std::array<bool, static_cast<int>(Button::COUNT)> argos_lib::XboxController::m_rawButtonStatus

private

◆ m_vibrationModel

VibrationModel argos_lib::XboxController::m_vibrationModel

private

Active vibration model.

The documentation for this class was generated from the following files:

src/argos_lib/include/argos_lib/controller/xbox_controller.h
src/argos_lib/cpp/controller/xbox_controller.cpp

Classes

Public Types

Public Member Functions

Private Member Functions

Private Attributes

Static Private Attributes

Member Enumeration Documentation

◆ Axis

◆ Button

◆ JoystickHand

Constructor & Destructor Documentation

◆ XboxController() [1/2]

◆ XboxController() [2/2]

Member Function Documentation

◆ GetDebouncedButton() [1/2]

◆ GetDebouncedButton() [2/2]

◆ GetDebouncedButtonPressed() [1/2]

◆ GetDebouncedButtonPressed() [2/2]

◆ GetDebouncedButtonReleased() [1/2]

◆ GetDebouncedButtonReleased() [2/2]

◆ GetPOVButtons()

◆ GetRawButton() [1/2]

◆ GetRawButton() [2/2]

◆ GetRawButtonPressed() [1/2]

◆ GetRawButtonPressed() [2/2]

◆ GetRawButtonReleased() [1/2]

◆ GetRawButtonReleased() [2/2]

◆ GetTriggerAxis()

◆ GetVibration()

◆ GetX()

◆ GetY()

◆ SetButtonDebounce()

◆ SetVibration()

◆ SwapSettings()

◆ TriggerAllOf()

◆ TriggerAnyOf()

◆ TriggerDebounced() [1/2]

◆ TriggerDebounced() [2/2]

◆ TriggerDebouncedAllOf()

◆ TriggerDebouncedAnyOf()

◆ TriggerDebouncedNoneOf()

◆ TriggerDebouncedOneOf()

◆ TriggerNoneOf()

◆ TriggerOneOf()

◆ TriggerRaw() [1/2]

◆ TriggerRaw() [2/2]

◆ TriggerRawAllOf()

◆ TriggerRawAnyOf()

◆ TriggerRawNoneOf()

◆ TriggerRawOneOf()

◆ UpdateButton()

◆ UpdateVibration()

Member Data Documentation

◆ analogTriggerThresh

◆ m_buttonDebounceSettings

◆ m_buttonDebounceStatus

◆ m_buttonDebounceTransitionTime

◆ m_rawButtonStatus

◆ m_vibrationModel