Package edu.wpi.first.wpilibj.buttons
Class Trigger
- java.lang.Object
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- edu.wpi.first.wpilibj.buttons.Trigger
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- All Implemented Interfaces:
Sendable
- Direct Known Subclasses:
Button
public abstract class Trigger extends Object implements Sendable
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
get()
method to get the full functionality of the Trigger class.
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Nested Class Summary
Nested Classes Modifier and Type Class Description static class
Trigger.ButtonScheduler
An internal class ofTrigger
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Constructor Summary
Constructors Constructor Description Trigger()
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Method Summary
All Methods Instance Methods Abstract Methods Concrete Methods Modifier and Type Method Description void
cancelWhenActive(Command command)
Cancels a command when the trigger becomes active.abstract boolean
get()
Returns whether or not the trigger is active.void
initSendable(SendableBuilder builder)
Initializes thisSendable
object.void
toggleWhenActive(Command command)
Toggles a command when the trigger becomes active.void
whenActive(Command command)
Starts the given command whenever the trigger just becomes active.void
whenInactive(Command command)
Starts the command when the trigger becomes inactive.void
whileActive(Command command)
Constantly starts the given command while the button is held.
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Constructor Detail
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Trigger
public Trigger()
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Method Detail
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get
public abstract boolean 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.
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whenActive
public void whenActive(Command command)
Starts the given command whenever the trigger just becomes active.- Parameters:
command
- the command to start
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whileActive
public void whileActive(Command command)
Constantly starts the given command while the button is held.Command.start()
will be called repeatedly while the trigger is active, and will be canceled when the trigger becomes inactive.- Parameters:
command
- the command to start
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whenInactive
public void whenInactive(Command command)
Starts the command when the trigger becomes inactive.- Parameters:
command
- the command to start
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toggleWhenActive
public void toggleWhenActive(Command command)
Toggles a command when the trigger becomes active.- Parameters:
command
- the command to toggle
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cancelWhenActive
public void cancelWhenActive(Command command)
Cancels a command when the trigger becomes active.- Parameters:
command
- the command to cancel
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initSendable
public void initSendable(SendableBuilder builder)
Description copied from interface:Sendable
Initializes thisSendable
object.- Specified by:
initSendable
in interfaceSendable
- Parameters:
builder
- sendable builder
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