edu.wpi.first.wpilibj2.command.button.Trigger Class Reference

Inheritance diagram for edu.wpi.first.wpilibj2.command.button.Trigger:

Public Member Functions
	Trigger (EventLoop loop, BooleanSupplier condition)
	Trigger (BooleanSupplier condition)
Trigger	onTrue (Command command)
Trigger	onFalse (Command command)
Trigger	whileTrue (Command command)
Trigger	whileFalse (Command command)
Trigger	toggleOnTrue (Command command)
Trigger	toggleOnFalse (Command command)
Trigger	and (BooleanSupplier trigger)
Trigger	or (BooleanSupplier trigger)
Trigger	negate ()
Trigger	debounce (double seconds)
Trigger	debounce (double seconds, Debouncer.DebounceType type)

Detailed Description

This class provides an easy way to link commands to conditions.

It is very easy to link a button to a command. For instance, you could link the trigger button of a joystick to a "score" command.

Triggers can easily be composed for advanced functionality using the and(BooleanSupplier), or(BooleanSupplier), negate() operators.

This class is provided by the NewCommands VendorDep

Constructor & Destructor Documentation

Trigger() [1/2]

edu.wpi.first.wpilibj2.command.button.Trigger.Trigger	(	EventLoop	loop,
		BooleanSupplier	condition )

Creates a new trigger based on the given condition.

Parameters

loop	The loop instance that polls this trigger.
condition	the condition represented by this trigger

Trigger() [2/2]

edu.wpi.first.wpilibj2.command.button.Trigger.Trigger

(

BooleanSupplier

condition

)

Creates a new trigger based on the given condition.

Polled by the default scheduler button loop.

Parameters

condition

the condition represented by this trigger

Member Function Documentation

and()

Trigger edu.wpi.first.wpilibj2.command.button.Trigger.and

(

BooleanSupplier

trigger

)

Composes two triggers with logical AND.

Parameters

trigger

the condition to compose with

Returns

A trigger which is active when both component triggers are active.

debounce() [1/2]

Trigger edu.wpi.first.wpilibj2.command.button.Trigger.debounce

(

double

seconds

)

Creates a new debounced trigger from this trigger - it will become active when this trigger has been active for longer than the specified period.

Parameters

seconds

The debounce period.

Returns

The debounced trigger (rising edges debounced only)

debounce() [2/2]

Trigger edu.wpi.first.wpilibj2.command.button.Trigger.debounce	(	double	seconds,
		Debouncer.DebounceType	type )

Creates a new debounced trigger from this trigger - it will become active when this trigger has been active for longer than the specified period.

Parameters

seconds	The debounce period.
type	The debounce type.

Returns

The debounced trigger.

negate()

Trigger edu.wpi.first.wpilibj2.command.button.Trigger.negate

(

)

Creates a new trigger that is active when this trigger is inactive, i.e. that acts as the negation of this trigger.

Returns

the negated trigger

onFalse()

Trigger edu.wpi.first.wpilibj2.command.button.Trigger.onFalse

(

Command

command

)

Starts the given command whenever the condition changes from true to false.

Parameters

command

the command to start

Returns

this trigger, so calls can be chained

onTrue()

Trigger edu.wpi.first.wpilibj2.command.button.Trigger.onTrue

(

Command

command

)

Starts the given command whenever the condition changes from false to true.

Parameters

command

the command to start

Returns

this trigger, so calls can be chained

or()

Trigger edu.wpi.first.wpilibj2.command.button.Trigger.or

(

BooleanSupplier

trigger

)

Composes two triggers with logical OR.

Parameters

trigger

the condition to compose with

Returns

A trigger which is active when either component trigger is active.

toggleOnFalse()

Trigger edu.wpi.first.wpilibj2.command.button.Trigger.toggleOnFalse

(

Command

command

)

Toggles a command when the condition changes from true to false.

Parameters

command

the command to toggle

Returns

this trigger, so calls can be chained

toggleOnTrue()

Trigger edu.wpi.first.wpilibj2.command.button.Trigger.toggleOnTrue

(

Command

command

)

Toggles a command when the condition changes from false to true.

Parameters

command

the command to toggle

Returns

this trigger, so calls can be chained

whileFalse()

Trigger edu.wpi.first.wpilibj2.command.button.Trigger.whileFalse

(

Command

command

)

Starts the given command when the condition changes to false and cancels it when the condition changes to true.

Doesn't re-start the command if it ends while the condition is still false. If the command should restart, see edu.wpi.first.wpilibj2.command.RepeatCommand.

Parameters

command

the command to start

Returns

this trigger, so calls can be chained

whileTrue()

Trigger edu.wpi.first.wpilibj2.command.button.Trigger.whileTrue

(

Command

command

)

Starts the given command when the condition changes to true and cancels it when the condition changes to false.

Doesn't re-start the command if it ends while the condition is still true. If the command should restart, see edu.wpi.first.wpilibj2.command.RepeatCommand.

Parameters

command

the command to start

Returns

this trigger, so calls can be chained

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

• D:/SDASVN/2024/RaspberryPi/VSCode/Source/edu/wpi/first/wpilibj2/command/button/Trigger.java