Class SwitchN64Controller

java.lang.Object
org.wpilib.driverstation.SwitchN64Controller
All Implemented Interfaces:
HIDDevice, TelemetryLoggable
public class SwitchN64Controller extends Object implements HIDDevice, TelemetryLoggable
Handle input from SwitchN64 controllers connected to the Driver Station.

This class handles SwitchN64 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

    • SwitchN64Controller

      public SwitchN64Controller(int port)
      Construct an instance of a controller.
      Parameters:
      port - The port index on the Driver Station that the controller is plugged into.

    • SwitchN64Controller

      public SwitchN64Controller(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.

    • getZAxis

      public double getZAxis()
      Get the Z Axis value of the controller.

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

      Returns:
      The axis value.

    • setZAxisDeadband

      public void setZAxisDeadband(double deadband)
      Set the deadband for the Z Axis axis.

      The deadband is clamped to [0, 1).

      Parameters:
      deadband - The deadband to apply.

    • getZR

      public double getZR()
      Get the ZR value of the controller.

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

      Returns:
      The axis value.

    • setZRDeadband

      public void setZRDeadband(double deadband)
      Set the deadband for the ZR axis.

      The deadband is clamped to [0, 1).

      Parameters:
      deadband - The deadband to apply.

    • getAxis

      public double getAxis(SwitchN64Controller.Axis axis)
      Get the value of the axis.
      Parameters:
      axis - The axis to read
      Returns:
      The axis value.

    • axisLessThan

      public BooleanEvent axisLessThan(SwitchN64Controller.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(SwitchN64Controller.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.

    • getAButton

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

    • getAButtonPressed

      public boolean getAButtonPressed()
      Whether the A button was pressed since the last check.
      Returns:
      Whether the button was pressed since the last check.

    • getAButtonReleased

      public boolean getAButtonReleased()
      Whether the A button was released since the last check.
      Returns:
      Whether the button was released since the last check.

    • a

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

    • getBButton

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

    • getBButtonPressed

      public boolean getBButtonPressed()
      Whether the B button was pressed since the last check.
      Returns:
      Whether the button was pressed since the last check.

    • getBButtonReleased

      public boolean getBButtonReleased()
      Whether the B button was released since the last check.
      Returns:
      Whether the button was released since the last check.

    • b

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

    • getCLeftButton

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

    • getCLeftButtonPressed

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

    • getCLeftButtonReleased

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

    • CLeft

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

    • getCUpButton

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

    • getCUpButtonPressed

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

    • getCUpButtonReleased

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

    • CUp

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

    • getCaptureButton

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

    • getCaptureButtonPressed

      public boolean getCaptureButtonPressed()
      Whether the Capture button was pressed since the last check.
      Returns:
      Whether the button was pressed since the last check.

    • getCaptureButtonReleased

      public boolean getCaptureButtonReleased()
      Whether the Capture button was released since the last check.
      Returns:
      Whether the button was released since the last check.

    • capture

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

    • getHomeButton

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

    • getHomeButtonPressed

      public boolean getHomeButtonPressed()
      Whether the Home button was pressed since the last check.
      Returns:
      Whether the button was pressed since the last check.

    • getHomeButtonReleased

      public boolean getHomeButtonReleased()
      Whether the Home button was released since the last check.
      Returns:
      Whether the button was released since the last check.

    • home

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

    • getStartButton

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

    • getStartButtonPressed

      public boolean getStartButtonPressed()
      Whether the Start button was pressed since the last check.
      Returns:
      Whether the button was pressed since the last check.

    • getStartButtonReleased

      public boolean getStartButtonReleased()
      Whether the Start button was released since the last check.
      Returns:
      Whether the button was released since the last check.

    • start

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

    • getCDownButton

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

    • getCDownButtonPressed

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

    • getCDownButtonReleased

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

    • CDown

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

    • getLButton

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

    • getLButtonPressed

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

    • getLButtonReleased

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

    • L

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

    • getRButton

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

    • getRButtonPressed

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

    • getRButtonReleased

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

    • R

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

    • getCRightButton

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

    • getCRightButtonPressed

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

    • getCRightButtonReleased

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

    • CRight

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

    • getButton

      public boolean getButton(SwitchN64Controller.Button button)
      Get the button value.
      Parameters:
      button - The button to read
      Returns:
      The state of the button.

    • getButtonPressed

      public boolean getButtonPressed(SwitchN64Controller.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(SwitchN64Controller.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(SwitchN64Controller.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

    • 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