Class DualSenseController

java.lang.Object
org.wpilib.driverstation.DualSenseController
All Implemented Interfaces:
HIDDevice, TelemetryLoggable
public class DualSenseController extends Object implements HIDDevice, TelemetryLoggable
Handle input from DualSense controllers connected to the Driver Station.

This class handles DualSense input that comes from the Driver Station. Each time a value is requested the most recent value is returned.

  • Field Details

    • TOUCHPAD_COUNT

      public static final int TOUCHPAD_COUNT
      The number of touchpads supported by this controller.
      See Also:

    • SUPPORTS_RUMBLE

      public static final boolean SUPPORTS_RUMBLE
      Whether this controller supports main rumble motors.
      See Also:

    • SUPPORTS_TRIGGER_RUMBLE

      public static final boolean SUPPORTS_TRIGGER_RUMBLE
      Whether this controller supports trigger rumble motors.
      See Also:

    • SUPPORTS_MONO_LED

      public static final boolean SUPPORTS_MONO_LED
      Whether this controller supports mono LED output.
      See Also:

    • SUPPORTS_RGB_LED

      public static final boolean SUPPORTS_RGB_LED
      Whether this controller supports RGB LED output.
      See Also:

  • Constructor Details

    • DualSenseController

      public DualSenseController(int port)
      Construct an instance of a controller.
      Parameters:
      port - The port index on the Driver Station that the controller is plugged into.

    • DualSenseController

      public DualSenseController(GenericHID hid)
      Construct an instance of a controller with a GenericHID object.
      Parameters:
      hid - The GenericHID object to use for this controller.

  • Method Details

    • getHID

      public GenericHID getHID()
      Get the underlying GenericHID object.
      Specified by:
      getHID in interface HIDDevice
      Returns:
      the wrapped GenericHID object

    • getSupportedOutputCapabilities

      public static EnumSet<GenericHID.SupportedOutput> getSupportedOutputCapabilities()
      Get the supported outputs expected for this controller type.
      Returns:
      the expected supported outputs

    • getPort

      public int getPort()
      Get the port number of the HID.
      Returns:
      The port number of the HID.

    • isConnected

      public boolean isConnected()
      Get if the HID is connected.
      Returns:
      true if the HID is connected

    • getLeftX

      public double getLeftX()
      Get the Left X value of the controller.

      A deadband of 0.1 is applied by default. Use setLeftXDeadband(double) to change it.

      Returns:
      The axis value.

    • setLeftXDeadband

      public void setLeftXDeadband(double deadband)
      Set the deadband for the Left X axis.

      The deadband is clamped to [0, 1).

      Parameters:
      deadband - The deadband to apply.

    • getLeftY

      public double getLeftY()
      Get the Left Y value of the controller.

      A deadband of 0.1 is applied by default. Use setLeftYDeadband(double) to change it.

      Returns:
      The axis value.

    • setLeftYDeadband

      public void setLeftYDeadband(double deadband)
      Set the deadband for the Left Y axis.

      The deadband is clamped to [0, 1).

      Parameters:
      deadband - The deadband to apply.

    • getRightX

      public double getRightX()
      Get the Right X value of the controller.

      A deadband of 0.1 is applied by default. Use setRightXDeadband(double) to change it.

      Returns:
      The axis value.

    • setRightXDeadband

      public void setRightXDeadband(double deadband)
      Set the deadband for the Right X axis.

      The deadband is clamped to [0, 1).

      Parameters:
      deadband - The deadband to apply.

    • getRightY

      public double getRightY()
      Get the Right Y value of the controller.

      A deadband of 0.1 is applied by default. Use setRightYDeadband(double) to change it.

      Returns:
      The axis value.

    • setRightYDeadband

      public void setRightYDeadband(double deadband)
      Set the deadband for the Right Y axis.

      The deadband is clamped to [0, 1).

      Parameters:
      deadband - The deadband to apply.

    • getL2

      public double getL2()
      Get the L 2 value of the controller.

      A deadband of 0.01 is applied by default. Use setL2Deadband(double) to change it.

      Returns:
      The axis value.

    • setL2Deadband

      public void setL2Deadband(double deadband)
      Set the deadband for the L 2 axis.

      The deadband is clamped to [0, 1).

      Parameters:
      deadband - The deadband to apply.

    • getR2

      public double getR2()
      Get the R 2 value of the controller.

      A deadband of 0.01 is applied by default. Use setR2Deadband(double) to change it.

      Returns:
      The axis value.

    • setR2Deadband

      public void setR2Deadband(double deadband)
      Set the deadband for the R 2 axis.

      The deadband is clamped to [0, 1).

      Parameters:
      deadband - The deadband to apply.

    • getAxis

      public double getAxis(DualSenseController.Axis axis)
      Get the value of the axis.
      Parameters:
      axis - The axis to read
      Returns:
      The axis value.

    • axisLessThan

      public BooleanEvent axisLessThan(DualSenseController.Axis axis, double threshold, EventLoop loop)
      Constructs an event instance that is true when the axis value is less than threshold.
      Parameters:
      axis - The axis to read.
      threshold - The value below which this event should return true.
      loop - the event loop instance to attach the event to.
      Returns:
      an event instance that is true when the axis value is less than the provided threshold.

    • axisGreaterThan

      public BooleanEvent axisGreaterThan(DualSenseController.Axis axis, double threshold, EventLoop loop)
      Constructs an event instance that is true when the axis value is greater than threshold.
      Parameters:
      axis - The axis to read.
      threshold - The value above which this event should return true.
      loop - the event loop instance to attach the event to.
      Returns:
      an event instance that is true when the axis value is greater than the provided threshold.

    • getCrossButton

      public boolean getCrossButton()
      Read the value of the Cross button on the controller.
      Returns:
      The state of the button.

    • getCrossButtonPressed

      public boolean getCrossButtonPressed()
      Whether the Cross button was pressed since the last check.
      Returns:
      Whether the button was pressed since the last check.

    • getCrossButtonReleased

      public boolean getCrossButtonReleased()
      Whether the Cross button was released since the last check.
      Returns:
      Whether the button was released since the last check.

    • cross

      public BooleanEvent cross(EventLoop loop)
      Constructs an event instance around the Cross button's digital signal.
      Parameters:
      loop - the event loop instance to attach the event to.
      Returns:
      an event instance representing the Cross button's digital signal attached to the given loop.

    • getCircleButton

      public boolean getCircleButton()
      Read the value of the Circle button on the controller.
      Returns:
      The state of the button.

    • getCircleButtonPressed

      public boolean getCircleButtonPressed()
      Whether the Circle button was pressed since the last check.
      Returns:
      Whether the button was pressed since the last check.

    • getCircleButtonReleased

      public boolean getCircleButtonReleased()
      Whether the Circle button was released since the last check.
      Returns:
      Whether the button was released since the last check.

    • circle

      public BooleanEvent circle(EventLoop loop)
      Constructs an event instance around the Circle button's digital signal.
      Parameters:
      loop - the event loop instance to attach the event to.
      Returns:
      an event instance representing the Circle button's digital signal attached to the given loop.

    • getSquareButton

      public boolean getSquareButton()
      Read the value of the Square button on the controller.
      Returns:
      The state of the button.

    • getSquareButtonPressed

      public boolean getSquareButtonPressed()
      Whether the Square button was pressed since the last check.
      Returns:
      Whether the button was pressed since the last check.

    • getSquareButtonReleased

      public boolean getSquareButtonReleased()
      Whether the Square button was released since the last check.
      Returns:
      Whether the button was released since the last check.

    • square

      public BooleanEvent square(EventLoop loop)
      Constructs an event instance around the Square button's digital signal.
      Parameters:
      loop - the event loop instance to attach the event to.
      Returns:
      an event instance representing the Square button's digital signal attached to the given loop.

    • getTriangleButton

      public boolean getTriangleButton()
      Read the value of the Triangle button on the controller.
      Returns:
      The state of the button.

    • getTriangleButtonPressed

      public boolean getTriangleButtonPressed()
      Whether the Triangle button was pressed since the last check.
      Returns:
      Whether the button was pressed since the last check.

    • getTriangleButtonReleased

      public boolean getTriangleButtonReleased()
      Whether the Triangle button was released since the last check.
      Returns:
      Whether the button was released since the last check.

    • triangle

      public BooleanEvent triangle(EventLoop loop)
      Constructs an event instance around the Triangle button's digital signal.
      Parameters:
      loop - the event loop instance to attach the event to.
      Returns:
      an event instance representing the Triangle button's digital signal attached to the given loop.

    • getCreateButton

      public boolean getCreateButton()
      Read the value of the Create button on the controller.
      Returns:
      The state of the button.

    • getCreateButtonPressed

      public boolean getCreateButtonPressed()
      Whether the Create button was pressed since the last check.
      Returns:
      Whether the button was pressed since the last check.

    • getCreateButtonReleased

      public boolean getCreateButtonReleased()
      Whether the Create button was released since the last check.
      Returns:
      Whether the button was released since the last check.

    • create

      public BooleanEvent create(EventLoop loop)
      Constructs an event instance around the Create button's digital signal.
      Parameters:
      loop - the event loop instance to attach the event to.
      Returns:
      an event instance representing the Create button's digital signal attached to the given loop.

    • getPSButton

      public boolean getPSButton()
      Read the value of the PS button on the controller.
      Returns:
      The state of the button.

    • getPSButtonPressed

      public boolean getPSButtonPressed()
      Whether the PS button was pressed since the last check.
      Returns:
      Whether the button was pressed since the last check.

    • getPSButtonReleased

      public boolean getPSButtonReleased()
      Whether the PS button was released since the last check.
      Returns:
      Whether the button was released since the last check.

    • PS

      public BooleanEvent PS(EventLoop loop)
      Constructs an event instance around the PS button's digital signal.
      Parameters:
      loop - the event loop instance to attach the event to.
      Returns:
      an event instance representing the PS button's digital signal attached to the given loop.

    • getOptionsButton

      public boolean getOptionsButton()
      Read the value of the Options button on the controller.
      Returns:
      The state of the button.

    • getOptionsButtonPressed

      public boolean getOptionsButtonPressed()
      Whether the Options button was pressed since the last check.
      Returns:
      Whether the button was pressed since the last check.

    • getOptionsButtonReleased

      public boolean getOptionsButtonReleased()
      Whether the Options button was released since the last check.
      Returns:
      Whether the button was released since the last check.

    • options

      public BooleanEvent options(EventLoop loop)
      Constructs an event instance around the Options button's digital signal.
      Parameters:
      loop - the event loop instance to attach the event to.
      Returns:
      an event instance representing the Options button's digital signal attached to the given loop.

    • getL3Button

      public boolean getL3Button()
      Read the value of the L 3 button on the controller.
      Returns:
      The state of the button.

    • getL3ButtonPressed

      public boolean getL3ButtonPressed()
      Whether the L 3 button was pressed since the last check.
      Returns:
      Whether the button was pressed since the last check.

    • getL3ButtonReleased

      public boolean getL3ButtonReleased()
      Whether the L 3 button was released since the last check.
      Returns:
      Whether the button was released since the last check.

    • L3

      public BooleanEvent L3(EventLoop loop)
      Constructs an event instance around the L 3 button's digital signal.
      Parameters:
      loop - the event loop instance to attach the event to.
      Returns:
      an event instance representing the L 3 button's digital signal attached to the given loop.

    • getR3Button

      public boolean getR3Button()
      Read the value of the R 3 button on the controller.
      Returns:
      The state of the button.

    • getR3ButtonPressed

      public boolean getR3ButtonPressed()
      Whether the R 3 button was pressed since the last check.
      Returns:
      Whether the button was pressed since the last check.

    • getR3ButtonReleased

      public boolean getR3ButtonReleased()
      Whether the R 3 button was released since the last check.
      Returns:
      Whether the button was released since the last check.

    • R3

      public BooleanEvent R3(EventLoop loop)
      Constructs an event instance around the R 3 button's digital signal.
      Parameters:
      loop - the event loop instance to attach the event to.
      Returns:
      an event instance representing the R 3 button's digital signal attached to the given loop.

    • getL1Button

      public boolean getL1Button()
      Read the value of the L 1 button on the controller.
      Returns:
      The state of the button.

    • getL1ButtonPressed

      public boolean getL1ButtonPressed()
      Whether the L 1 button was pressed since the last check.
      Returns:
      Whether the button was pressed since the last check.

    • getL1ButtonReleased

      public boolean getL1ButtonReleased()
      Whether the L 1 button was released since the last check.
      Returns:
      Whether the button was released since the last check.

    • L1

      public BooleanEvent L1(EventLoop loop)
      Constructs an event instance around the L 1 button's digital signal.
      Parameters:
      loop - the event loop instance to attach the event to.
      Returns:
      an event instance representing the L 1 button's digital signal attached to the given loop.

    • getR1Button

      public boolean getR1Button()
      Read the value of the R 1 button on the controller.
      Returns:
      The state of the button.

    • getR1ButtonPressed

      public boolean getR1ButtonPressed()
      Whether the R 1 button was pressed since the last check.
      Returns:
      Whether the button was pressed since the last check.

    • getR1ButtonReleased

      public boolean getR1ButtonReleased()
      Whether the R 1 button was released since the last check.
      Returns:
      Whether the button was released since the last check.

    • R1

      public BooleanEvent R1(EventLoop loop)
      Constructs an event instance around the R 1 button's digital signal.
      Parameters:
      loop - the event loop instance to attach the event to.
      Returns:
      an event instance representing the R 1 button's digital signal attached to the given loop.

    • getDpadUpButton

      public boolean getDpadUpButton()
      Read the value of the Dpad Up button on the controller.
      Returns:
      The state of the button.

    • getDpadUpButtonPressed

      public boolean getDpadUpButtonPressed()
      Whether the Dpad Up button was pressed since the last check.
      Returns:
      Whether the button was pressed since the last check.

    • getDpadUpButtonReleased

      public boolean getDpadUpButtonReleased()
      Whether the Dpad Up button was released since the last check.
      Returns:
      Whether the button was released since the last check.

    • dpadUp

      public BooleanEvent dpadUp(EventLoop loop)
      Constructs an event instance around the Dpad Up button's digital signal.
      Parameters:
      loop - the event loop instance to attach the event to.
      Returns:
      an event instance representing the Dpad Up button's digital signal attached to the given loop.

    • getDpadDownButton

      public boolean getDpadDownButton()
      Read the value of the Dpad Down button on the controller.
      Returns:
      The state of the button.

    • getDpadDownButtonPressed

      public boolean getDpadDownButtonPressed()
      Whether the Dpad Down button was pressed since the last check.
      Returns:
      Whether the button was pressed since the last check.

    • getDpadDownButtonReleased

      public boolean getDpadDownButtonReleased()
      Whether the Dpad Down button was released since the last check.
      Returns:
      Whether the button was released since the last check.

    • dpadDown

      public BooleanEvent dpadDown(EventLoop loop)
      Constructs an event instance around the Dpad Down button's digital signal.
      Parameters:
      loop - the event loop instance to attach the event to.
      Returns:
      an event instance representing the Dpad Down button's digital signal attached to the given loop.

    • getDpadLeftButton

      public boolean getDpadLeftButton()
      Read the value of the Dpad Left button on the controller.
      Returns:
      The state of the button.

    • getDpadLeftButtonPressed

      public boolean getDpadLeftButtonPressed()
      Whether the Dpad Left button was pressed since the last check.
      Returns:
      Whether the button was pressed since the last check.

    • getDpadLeftButtonReleased

      public boolean getDpadLeftButtonReleased()
      Whether the Dpad Left button was released since the last check.
      Returns:
      Whether the button was released since the last check.

    • dpadLeft

      public BooleanEvent dpadLeft(EventLoop loop)
      Constructs an event instance around the Dpad Left button's digital signal.
      Parameters:
      loop - the event loop instance to attach the event to.
      Returns:
      an event instance representing the Dpad Left button's digital signal attached to the given loop.

    • getDpadRightButton

      public boolean getDpadRightButton()
      Read the value of the Dpad Right button on the controller.
      Returns:
      The state of the button.

    • getDpadRightButtonPressed

      public boolean getDpadRightButtonPressed()
      Whether the Dpad Right button was pressed since the last check.
      Returns:
      Whether the button was pressed since the last check.

    • getDpadRightButtonReleased

      public boolean getDpadRightButtonReleased()
      Whether the Dpad Right button was released since the last check.
      Returns:
      Whether the button was released since the last check.

    • dpadRight

      public BooleanEvent dpadRight(EventLoop loop)
      Constructs an event instance around the Dpad Right button's digital signal.
      Parameters:
      loop - the event loop instance to attach the event to.
      Returns:
      an event instance representing the Dpad Right button's digital signal attached to the given loop.

    • getMicrophoneButton

      public boolean getMicrophoneButton()
      Read the value of the Microphone button on the controller.
      Returns:
      The state of the button.

    • getMicrophoneButtonPressed

      public boolean getMicrophoneButtonPressed()
      Whether the Microphone button was pressed since the last check.
      Returns:
      Whether the button was pressed since the last check.

    • getMicrophoneButtonReleased

      public boolean getMicrophoneButtonReleased()
      Whether the Microphone button was released since the last check.
      Returns:
      Whether the button was released since the last check.

    • microphone

      public BooleanEvent microphone(EventLoop loop)
      Constructs an event instance around the Microphone button's digital signal.
      Parameters:
      loop - the event loop instance to attach the event to.
      Returns:
      an event instance representing the Microphone button's digital signal attached to the given loop.

    • getTouchpadButton

      public boolean getTouchpadButton()
      Read the value of the Touchpad button on the controller.
      Returns:
      The state of the button.

    • getTouchpadButtonPressed

      public boolean getTouchpadButtonPressed()
      Whether the Touchpad button was pressed since the last check.
      Returns:
      Whether the button was pressed since the last check.

    • getTouchpadButtonReleased

      public boolean getTouchpadButtonReleased()
      Whether the Touchpad button was released since the last check.
      Returns:
      Whether the button was released since the last check.

    • touchpad

      public BooleanEvent touchpad(EventLoop loop)
      Constructs an event instance around the Touchpad button's digital signal.
      Parameters:
      loop - the event loop instance to attach the event to.
      Returns:
      an event instance representing the Touchpad button's digital signal attached to the given loop.

    • getButton

      public boolean getButton(DualSenseController.Button button)
      Get the button value.
      Parameters:
      button - The button to read
      Returns:
      The state of the button.

    • getButtonPressed

      public boolean getButtonPressed(DualSenseController.Button button)
      Whether the button was pressed since the last check.
      Parameters:
      button - The button to read
      Returns:
      Whether the button was pressed since the last check.

    • getButtonReleased

      public boolean getButtonReleased(DualSenseController.Button button)
      Whether the button was released since the last check.
      Parameters:
      button - The button to read
      Returns:
      Whether the button was released since the last check.

    • button

      public BooleanEvent button(DualSenseController.Button button, EventLoop loop)
      Constructs an event instance around this button's digital signal.
      Parameters:
      button - the button
      loop - the event loop instance to attach the event to.
      Returns:
      an event instance representing the button's digital signal attached to the given loop.

    • setLeds

      public void setLeds(int r, int g, int b)
      Set leds on the controller.
      Parameters:
      r - Red value from 0-255
      g - Green value from 0-255
      b - Blue value from 0-255

    • setRumble

      public void setRumble(GenericHID.RumbleType type, double value)
      Set the rumble output for the HID.
      Parameters:
      type - Which rumble value to set
      value - The normalized value (0 to 1) to set the rumble to

    • getTouchpadFingerAvailable

      public boolean getTouchpadFingerAvailable(int finger)
      Check if a touchpad finger is available.
      Parameters:
      finger - The finger to check.
      Returns:
      true if the touchpad finger is available.

    • getTouchpadFinger

      public TouchpadFinger getTouchpadFinger(int finger)
      Get the touchpad finger data.
      Parameters:
      finger - The finger to read.
      Returns:
      The touchpad finger data.

    • getTelemetryType

      public String getTelemetryType()
      Description copied from interface: TelemetryLoggable
      Gets the telemetry table type. Default is no specified table type (null). A mismatch in type during logging results in a reported warning, so this should always return the same value.
      Specified by:
      getTelemetryType in interface TelemetryLoggable
      Returns:
      Table type

    • logTo

      public void logTo(TelemetryTable table)
      Description copied from interface: TelemetryLoggable
      Logs the object to a TelemetryTable.
      Specified by:
      logTo in interface TelemetryLoggable
      Parameters:
      table - telemetry table