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FRC2016-old/DriveBase/wpilib/cpp/current/include/Buttons/Trigger.h
2016-01-28 11:33:19 -05:00

54 lines
1.8 KiB
C++

/*----------------------------------------------------------------------------*/
/* Copyright (c) FIRST 2011-2016. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
/*----------------------------------------------------------------------------*/
#ifndef __TRIGGER_H__
#define __TRIGGER_H__
#include "SmartDashboard/Sendable.h"
#include <memory>
class Command;
/**
* This class provides an easy way to link commands to inputs.
*
* It is very easy to link a polled input to a command. For instance, you could
* link the trigger button of a joystick to a "score" command or an encoder
* reaching
* a particular value.
*
* 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 {@link Trigger#Get()} method to get the full
* functionality
* of the Trigger class.
*
* @author Brad Miller, Joe Grinstead
*/
class Trigger : public Sendable {
public:
Trigger() = default;
virtual ~Trigger() = default;
bool Grab();
virtual bool Get() = 0;
void WhenActive(Command *command);
void WhileActive(Command *command);
void WhenInactive(Command *command);
void CancelWhenActive(Command *command);
void ToggleWhenActive(Command *command);
virtual void InitTable(std::shared_ptr<ITable> table);
virtual std::shared_ptr<ITable> GetTable() const;
virtual std::string GetSmartDashboardType() const;
protected:
std::shared_ptr<ITable> m_table;
};
#endif