Copybara allwpilib to mostrobotpy

rdev.toml

@@ -22,7 +22,7 @@ wrapper = "2027.0.0a6.post1"
 
 [params]
 
-wpilib_bin_version = "2027.0.0-alpha-6-42-gfdc6fd9cb"
+wpilib_bin_version = "2027.0.0-alpha-6-66-g489b993e6"
 wpilib_bin_url = "https://frcmaven.wpi.edu/artifactory/development-2027"
 # wpilib_bin_url = "https://frcmaven.wpi.edu/artifactory/development-2027"
 

subprojects/pyntcore/semiwrap/Topic.yml

@@ -15,6 +15,10 @@ classes:
         ignore: true
       GetInstance:
       GetName:
+      GetUserData:
+        ignore: true
+      SetUserData:
+        ignore: true
       GetType:
       GetTypeString:
       SetPersistent:

subprojects/robotpy-commands-v2/commands2/button/__init__.py

@@ -1,18 +1,24 @@
 from .commandgenerichid import CommandGenericHID
+from .commanddualsensecontroller import CommandDualSenseController
+from .commandgamepad import CommandGamepad
 from .commandjoystick import CommandJoystick
 from .commandnidsps4controller import CommandNiDsPS4Controller
 from .commandnidsxboxcontroller import CommandNiDsXboxController
+from .commandxboxcontroller import CommandXboxController
 from .joystickbutton import JoystickButton
 from .networkbutton import NetworkButton
 from .povbutton import POVButton
 from .trigger import Trigger
 
 __all__ = [
     "Trigger",
+    "CommandDualSenseController",
     "CommandGenericHID",
+    "CommandGamepad",
     "CommandJoystick",
     "CommandNiDsPS4Controller",
     "CommandNiDsXboxController",
+    "CommandXboxController",
     "JoystickButton",
     "NetworkButton",
     "POVButton",

subprojects/robotpy-commands-v2/commands2/button/commanddualsensecontroller.py

@@ -0,0 +1,354 @@
+# THIS FILE WAS AUTO-GENERATED BY ./commandsv2/generate_hids.py. DO NOT MODIFY
+
+from typing import Optional
+
+from wpilib import EventLoop, DualSenseController
+
+from .commandgenerichid import CommandGenericHID
+from .trigger import Trigger
+
+
+def _enum_value(value) -> int:
+    try:
+        return int(value)
+    except TypeError:
+        return value.value
+
+
+class CommandDualSenseController:
+    """
+    A version of :class:`wpilib.DualSenseController` with :class:`.Trigger` factories for command-based.
+    """
+
+    _hid: CommandGenericHID
+    _controller: DualSenseController
+
+    def __init__(self, port: int):
+        """
+        Construct an instance of a controller.
+
+        :param port: The port index on the Driver Station that the controller is plugged into.
+        """
+        self._hid = CommandGenericHID.getCommandGenericHID(port)
+        self._controller = DualSenseController(self._hid.getHID())
+
+    def __getattr__(self, name: str):
+        return getattr(self._hid, name)
+
+    def getHID(self) -> CommandGenericHID:
+        """
+        Get the underlying CommandGenericHID object.
+
+        :returns: the wrapped CommandGenericHID object
+        """
+        return self._hid
+
+    def getController(self) -> DualSenseController:
+        """
+        Get the wrapped controller object.
+
+        :returns: the wrapped controller object
+        """
+        return self._controller
+
+    def cross(self, loop: Optional[EventLoop] = None) -> Trigger:
+        """
+        Constructs a Trigger instance around the Cross button's digital signal.
+
+        :param loop: the event loop instance to attach the Trigger to, defaults
+                     to :func:`commands2.CommandScheduler.getDefaultButtonLoop`
+
+        :returns: a Trigger instance representing the Cross button's digital signal
+                  attached to the given loop.
+        """
+        return self._hid.button(_enum_value(DualSenseController.Button.CROSS), loop)
+
+    def circle(self, loop: Optional[EventLoop] = None) -> Trigger:
+        """
+        Constructs a Trigger instance around the Circle button's digital signal.
+
+        :param loop: the event loop instance to attach the Trigger to, defaults
+                     to :func:`commands2.CommandScheduler.getDefaultButtonLoop`
+
+        :returns: a Trigger instance representing the Circle button's digital signal
+                  attached to the given loop.
+        """
+        return self._hid.button(_enum_value(DualSenseController.Button.CIRCLE), loop)
+
+    def square(self, loop: Optional[EventLoop] = None) -> Trigger:
+        """
+        Constructs a Trigger instance around the Square button's digital signal.
+
+        :param loop: the event loop instance to attach the Trigger to, defaults
+                     to :func:`commands2.CommandScheduler.getDefaultButtonLoop`
+
+        :returns: a Trigger instance representing the Square button's digital signal
+                  attached to the given loop.
+        """
+        return self._hid.button(_enum_value(DualSenseController.Button.SQUARE), loop)
+
+    def triangle(self, loop: Optional[EventLoop] = None) -> Trigger:
+        """
+        Constructs a Trigger instance around the Triangle button's digital signal.
+
+        :param loop: the event loop instance to attach the Trigger to, defaults
+                     to :func:`commands2.CommandScheduler.getDefaultButtonLoop`
+
+        :returns: a Trigger instance representing the Triangle button's digital signal
+                  attached to the given loop.
+        """
+        return self._hid.button(_enum_value(DualSenseController.Button.TRIANGLE), loop)
+
+    def create(self, loop: Optional[EventLoop] = None) -> Trigger:
+        """
+        Constructs a Trigger instance around the Create button's digital signal.
+
+        :param loop: the event loop instance to attach the Trigger to, defaults
+                     to :func:`commands2.CommandScheduler.getDefaultButtonLoop`
+
+        :returns: a Trigger instance representing the Create button's digital signal
+                  attached to the given loop.
+        """
+        return self._hid.button(_enum_value(DualSenseController.Button.CREATE), loop)
+
+    def PS(self, loop: Optional[EventLoop] = None) -> Trigger:
+        """
+        Constructs a Trigger instance around the PS button's digital signal.
+
+        :param loop: the event loop instance to attach the Trigger to, defaults
+                     to :func:`commands2.CommandScheduler.getDefaultButtonLoop`
+
+        :returns: a Trigger instance representing the PS button's digital signal
+                  attached to the given loop.
+        """
+        return self._hid.button(_enum_value(DualSenseController.Button.PS), loop)
+
+    def options(self, loop: Optional[EventLoop] = None) -> Trigger:
+        """
+        Constructs a Trigger instance around the Options button's digital signal.
+
+        :param loop: the event loop instance to attach the Trigger to, defaults
+                     to :func:`commands2.CommandScheduler.getDefaultButtonLoop`
+
+        :returns: a Trigger instance representing the Options button's digital signal
+                  attached to the given loop.
+        """
+        return self._hid.button(_enum_value(DualSenseController.Button.OPTIONS), loop)
+
+    def L3(self, loop: Optional[EventLoop] = None) -> Trigger:
+        """
+        Constructs a Trigger instance around the L 3 button's digital signal.
+
+        :param loop: the event loop instance to attach the Trigger to, defaults
+                     to :func:`commands2.CommandScheduler.getDefaultButtonLoop`
+
+        :returns: a Trigger instance representing the L 3 button's digital signal
+                  attached to the given loop.
+        """
+        return self._hid.button(_enum_value(DualSenseController.Button.L3), loop)
+
+    def R3(self, loop: Optional[EventLoop] = None) -> Trigger:
+        """
+        Constructs a Trigger instance around the R 3 button's digital signal.
+
+        :param loop: the event loop instance to attach the Trigger to, defaults
+                     to :func:`commands2.CommandScheduler.getDefaultButtonLoop`
+
+        :returns: a Trigger instance representing the R 3 button's digital signal
+                  attached to the given loop.
+        """
+        return self._hid.button(_enum_value(DualSenseController.Button.R3), loop)
+
+    def L1(self, loop: Optional[EventLoop] = None) -> Trigger:
+        """
+        Constructs a Trigger instance around the L 1 button's digital signal.
+
+        :param loop: the event loop instance to attach the Trigger to, defaults
+                     to :func:`commands2.CommandScheduler.getDefaultButtonLoop`
+
+        :returns: a Trigger instance representing the L 1 button's digital signal
+                  attached to the given loop.
+        """
+        return self._hid.button(_enum_value(DualSenseController.Button.L1), loop)
+
+    def R1(self, loop: Optional[EventLoop] = None) -> Trigger:
+        """
+        Constructs a Trigger instance around the R 1 button's digital signal.
+
+        :param loop: the event loop instance to attach the Trigger to, defaults
+                     to :func:`commands2.CommandScheduler.getDefaultButtonLoop`
+
+        :returns: a Trigger instance representing the R 1 button's digital signal
+                  attached to the given loop.
+        """
+        return self._hid.button(_enum_value(DualSenseController.Button.R1), loop)
+
+    def dpadUp(self, loop: Optional[EventLoop] = None) -> Trigger:
+        """
+        Constructs a Trigger instance around the Dpad Up button's digital signal.
+
+        :param loop: the event loop instance to attach the Trigger to, defaults
+                     to :func:`commands2.CommandScheduler.getDefaultButtonLoop`
+
+        :returns: a Trigger instance representing the Dpad Up button's digital signal
+                  attached to the given loop.
+        """
+        return self._hid.button(_enum_value(DualSenseController.Button.DPAD_UP), loop)
+
+    def dpadDown(self, loop: Optional[EventLoop] = None) -> Trigger:
+        """
+        Constructs a Trigger instance around the Dpad Down button's digital signal.
+
+        :param loop: the event loop instance to attach the Trigger to, defaults
+                     to :func:`commands2.CommandScheduler.getDefaultButtonLoop`
+
+        :returns: a Trigger instance representing the Dpad Down button's digital signal
+                  attached to the given loop.
+        """
+        return self._hid.button(_enum_value(DualSenseController.Button.DPAD_DOWN), loop)
+
+    def dpadLeft(self, loop: Optional[EventLoop] = None) -> Trigger:
+        """
+        Constructs a Trigger instance around the Dpad Left button's digital signal.
+
+        :param loop: the event loop instance to attach the Trigger to, defaults
+                     to :func:`commands2.CommandScheduler.getDefaultButtonLoop`
+
+        :returns: a Trigger instance representing the Dpad Left button's digital signal
+                  attached to the given loop.
+        """
+        return self._hid.button(_enum_value(DualSenseController.Button.DPAD_LEFT), loop)
+
+    def dpadRight(self, loop: Optional[EventLoop] = None) -> Trigger:
+        """
+        Constructs a Trigger instance around the Dpad Right button's digital signal.
+
+        :param loop: the event loop instance to attach the Trigger to, defaults
+                     to :func:`commands2.CommandScheduler.getDefaultButtonLoop`
+
+        :returns: a Trigger instance representing the Dpad Right button's digital signal
+                  attached to the given loop.
+        """
+        return self._hid.button(
+            _enum_value(DualSenseController.Button.DPAD_RIGHT), loop
+        )
+
+    def microphone(self, loop: Optional[EventLoop] = None) -> Trigger:
+        """
+        Constructs a Trigger instance around the Microphone button's digital signal.
+
+        :param loop: the event loop instance to attach the Trigger to, defaults
+                     to :func:`commands2.CommandScheduler.getDefaultButtonLoop`
+
+        :returns: a Trigger instance representing the Microphone button's digital signal
+                  attached to the given loop.
+        """
+        return self._hid.button(
+            _enum_value(DualSenseController.Button.MICROPHONE), loop
+        )
+
+    def touchpad(self, loop: Optional[EventLoop] = None) -> Trigger:
+        """
+        Constructs a Trigger instance around the Touchpad button's digital signal.
+
+        :param loop: the event loop instance to attach the Trigger to, defaults
+                     to :func:`commands2.CommandScheduler.getDefaultButtonLoop`
+
+        :returns: a Trigger instance representing the Touchpad button's digital signal
+                  attached to the given loop.
+        """
+        return self._hid.button(_enum_value(DualSenseController.Button.TOUCHPAD), loop)
+
+    def L2(
+        self,
+        threshold: float = 0.5,
+        loop: Optional[EventLoop] = None,
+    ) -> Trigger:
+        """
+        Constructs a Trigger instance around the L 2 axis value. The returned
+        Trigger will be true when the axis value is greater than ``threshold``.
+
+        :param threshold: the minimum axis value for the returned Trigger to be true. This value
+                          should be in the range [0, 1] where 0 is the unpressed state of the axis.
+        :param loop: the event loop instance to attach the Trigger to, defaults
+                     to :func:`commands2.CommandScheduler.getDefaultButtonLoop`
+
+        :returns: a Trigger instance that is true when the L 2 axis exceeds the
+                  provided threshold, attached to the given event loop.
+        """
+        return self._hid.axisGreaterThan(
+            _enum_value(DualSenseController.Axis.L2),
+            threshold,
+            loop,
+        )
+
+    def R2(
+        self,
+        threshold: float = 0.5,
+        loop: Optional[EventLoop] = None,
+    ) -> Trigger:
+        """
+        Constructs a Trigger instance around the R 2 axis value. The returned
+        Trigger will be true when the axis value is greater than ``threshold``.
+
+        :param threshold: the minimum axis value for the returned Trigger to be true. This value
+                          should be in the range [0, 1] where 0 is the unpressed state of the axis.
+        :param loop: the event loop instance to attach the Trigger to, defaults
+                     to :func:`commands2.CommandScheduler.getDefaultButtonLoop`
+
+        :returns: a Trigger instance that is true when the R 2 axis exceeds the
+                  provided threshold, attached to the given event loop.
+        """
+        return self._hid.axisGreaterThan(
+            _enum_value(DualSenseController.Axis.R2),
+            threshold,
+            loop,
+        )
+
+    def getLeftX(self) -> float:
+        """
+        Get the Left X value of the controller.
+
+        :returns: the axis value.
+        """
+        return self._controller.getLeftX()
+
+    def getLeftY(self) -> float:
+        """
+        Get the Left Y value of the controller.
+
+        :returns: the axis value.
+        """
+        return self._controller.getLeftY()
+
+    def getRightX(self) -> float:
+        """
+        Get the Right X value of the controller.
+
+        :returns: the axis value.
+        """
+        return self._controller.getRightX()
+
+    def getRightY(self) -> float:
+        """
+        Get the Right Y value of the controller.
+
+        :returns: the axis value.
+        """
+        return self._controller.getRightY()
+
+    def getL2(self) -> float:
+        """
+        Get the L 2 value of the controller.
+
+        :returns: the axis value.
+        """
+        return self._controller.getL2()
+
+    def getR2(self) -> float:
+        """
+        Get the R 2 value of the controller.
+
+        :returns: the axis value.
+        """
+        return self._controller.getR2()