Public Member Functions | |
| Trigger (BooleanSupplier isActive) | |
| Trigger () | |
| boolean | get () |
| Trigger | whenActive (final Command command, boolean interruptible) |
| Trigger | whenActive (final Command command) |
| Trigger | whenActive (final Runnable toRun, Subsystem... requirements) |
| Trigger | whileActiveContinuous (final Command command, boolean interruptible) |
| Trigger | whileActiveContinuous (final Command command) |
| Trigger | whileActiveContinuous (final Runnable toRun, Subsystem... requirements) |
| Trigger | whileActiveOnce (final Command command, boolean interruptible) |
| Trigger | whileActiveOnce (final Command command) |
| Trigger | whenInactive (final Command command, boolean interruptible) |
| Trigger | whenInactive (final Command command) |
| Trigger | whenInactive (final Runnable toRun, Subsystem... requirements) |
| Trigger | toggleWhenActive (final Command command, boolean interruptible) |
| Trigger | toggleWhenActive (final Command command) |
| Trigger | cancelWhenActive (final Command command) |
| Trigger | and (Trigger trigger) |
| Trigger | or (Trigger trigger) |
| Trigger | negate () |
Detailed Description
This class provides an easy way to link commands to inputs.
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.
It is encouraged that teams write a subclass of Trigger if they want to have something unusual (for instance, if they want to react to the user holding a button while the robot is reading a certain sensor input). For this, they only have to write the Trigger#get() method to get the full functionality of the Trigger class.
Constructor & Destructor Documentation
◆ Trigger() [1/2]
| edu.wpi.first.wpilibj2.command.button.Trigger.Trigger | ( | BooleanSupplier | isActive | ) |
Creates a new trigger with the given condition determining whether it is active.
- Parameters
-
isActive returns whether or not the trigger should be active
◆ Trigger() [2/2]
| edu.wpi.first.wpilibj2.command.button.Trigger.Trigger | ( | ) |
Creates a new trigger that is always inactive. Useful only as a no-arg constructor for subclasses that will be overriding Trigger#get() anyway.
Member Function Documentation
◆ and()
Composes this trigger with another trigger, returning a new trigger that is active when both triggers are active.
- Parameters
-
trigger the trigger to compose with
- Returns
- the trigger that is active when both triggers are active
◆ cancelWhenActive()
Cancels a command when the trigger becomes active.
- Parameters
-
command the command to cancel
- Returns
- this trigger, so calls can be chained
◆ get()
| boolean edu.wpi.first.wpilibj2.command.button.Trigger.get | ( | ) |
Returns whether or not the trigger is active.
This method will be called repeatedly a command is linked to the Trigger.
- Returns
- whether or not the trigger condition is active.
Reimplemented in edu.wpi.first.wpilibj2.command.button.JoystickButton, and edu.wpi.first.wpilibj2.command.button.InternalButton.
◆ 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
◆ or()
Composes this trigger with another trigger, returning a new trigger that is active when either trigger is active.
- Parameters
-
trigger the trigger to compose with
- Returns
- the trigger that is active when either trigger is active
◆ toggleWhenActive() [1/2]
Toggles a command when the trigger becomes active. The command is set to be interruptible.
- Parameters
-
command the command to toggle
- Returns
- this trigger, so calls can be chained
◆ toggleWhenActive() [2/2]
| Trigger edu.wpi.first.wpilibj2.command.button.Trigger.toggleWhenActive | ( | final Command | command, |
| boolean | interruptible | ||
| ) |
Toggles a command when the trigger becomes active.
- Parameters
-
command the command to toggle interruptible whether the command is interruptible
- Returns
- this trigger, so calls can be chained
◆ whenActive() [1/3]
Starts the given command whenever the trigger just becomes active. The command is set to be interruptible.
- Parameters
-
command the command to start
- Returns
- this trigger, so calls can be chained
◆ whenActive() [2/3]
| Trigger edu.wpi.first.wpilibj2.command.button.Trigger.whenActive | ( | final Command | command, |
| boolean | interruptible | ||
| ) |
Starts the given command whenever the trigger just becomes active.
- Parameters
-
command the command to start interruptible whether the command is interruptible
- Returns
- this trigger, so calls can be chained
◆ whenActive() [3/3]
| Trigger edu.wpi.first.wpilibj2.command.button.Trigger.whenActive | ( | final Runnable | toRun, |
| Subsystem... | requirements | ||
| ) |
Runs the given runnable whenever the trigger just becomes active.
- Parameters
-
toRun the runnable to run requirements the required subsystems
- Returns
- this trigger, so calls can be chained
◆ whenInactive() [1/3]
Starts the command when the trigger becomes inactive. The command is set to be interruptible.
- Parameters
-
command the command to start
- Returns
- this trigger, so calls can be chained
◆ whenInactive() [2/3]
| Trigger edu.wpi.first.wpilibj2.command.button.Trigger.whenInactive | ( | final Command | command, |
| boolean | interruptible | ||
| ) |
Starts the command when the trigger becomes inactive.
- Parameters
-
command the command to start interruptible whether the command is interruptible
- Returns
- this trigger, so calls can be chained
◆ whenInactive() [3/3]
| Trigger edu.wpi.first.wpilibj2.command.button.Trigger.whenInactive | ( | final Runnable | toRun, |
| Subsystem... | requirements | ||
| ) |
Runs the given runnable when the trigger becomes inactive.
- Parameters
-
toRun the runnable to run requirements the required subsystems
- Returns
- this trigger, so calls can be chained
◆ whileActiveContinuous() [1/3]
| Trigger edu.wpi.first.wpilibj2.command.button.Trigger.whileActiveContinuous | ( | final Command | command | ) |
Constantly starts the given command while the button is held.
Command#schedule(boolean) will be called repeatedly while the trigger is active, and will be canceled when the trigger becomes inactive. The command is set to be interruptible.
- Parameters
-
command the command to start
- Returns
- this trigger, so calls can be chained
◆ whileActiveContinuous() [2/3]
| Trigger edu.wpi.first.wpilibj2.command.button.Trigger.whileActiveContinuous | ( | final Command | command, |
| boolean | interruptible | ||
| ) |
Constantly starts the given command while the button is held.
Command#schedule(boolean) will be called repeatedly while the trigger is active, and will be canceled when the trigger becomes inactive.
- Parameters
-
command the command to start interruptible whether the command is interruptible
- Returns
- this trigger, so calls can be chained
◆ whileActiveContinuous() [3/3]
| Trigger edu.wpi.first.wpilibj2.command.button.Trigger.whileActiveContinuous | ( | final Runnable | toRun, |
| Subsystem... | requirements | ||
| ) |
Constantly runs the given runnable while the button is held.
- Parameters
-
toRun the runnable to run requirements the required subsystems
- Returns
- this trigger, so calls can be chained
◆ whileActiveOnce() [1/2]
Starts the given command when the trigger initially becomes active, and ends it when it becomes inactive, but does not re-start it in-between. The command is set to be interruptible.
- Parameters
-
command the command to start
- Returns
- this trigger, so calls can be chained
◆ whileActiveOnce() [2/2]
| Trigger edu.wpi.first.wpilibj2.command.button.Trigger.whileActiveOnce | ( | final Command | command, |
| boolean | interruptible | ||
| ) |
Starts the given command when the trigger initially becomes active, and ends it when it becomes inactive, but does not re-start it in-between.
- Parameters
-
command the command to start interruptible whether the command is interruptible
- Returns
- this trigger, so calls can be chained
The documentation for this class was generated from the following file:
- D:/SDASVN/2022/RaspberryPi/Source/edu/wpi/first/wpilibj2/command/button/Trigger.java
