| jerrym | f157933 | 2013-02-07 01:56:28 +0000 | [diff] [blame] | 1 | /*----------------------------------------------------------------------------*/
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| 2 | /* Copyright (c) FIRST 2011. All Rights Reserved. */
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| 3 | /* Open Source Software - may be modified and shared by FRC teams. The code */
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| 4 | /* must be accompanied by the FIRST BSD license file in $(WIND_BASE)/WPILib. */
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| 5 | /*----------------------------------------------------------------------------*/
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| 6 |
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| 7 | #ifndef __TRIGGER_H__
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| 8 | #define __TRIGGER_H__
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| 9 |
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| 10 | #include "SmartDashboard/Sendable.h"
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| 11 |
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| 12 | class Command;
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| 13 |
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| 14 | /**
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| 15 | * This class provides an easy way to link commands to inputs.
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| 16 | *
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| 17 | * It is very easy to link a polled input to a command. For instance, you could
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| 18 | * link the trigger button of a joystick to a "score" command or an encoder reaching
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| 19 | * a particular value.
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| 20 | *
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| 21 | * It is encouraged that teams write a subclass of Trigger if they want to have
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| 22 | * something unusual (for instance, if they want to react to the user holding
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| 23 | * a button while the robot is reading a certain sensor input). For this, they
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| 24 | * only have to write the {@link Trigger#Get()} method to get the full functionality
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| 25 | * of the Trigger class.
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| 26 | *
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| 27 | * @author Brad Miller, Joe Grinstead
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| 28 | */
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| 29 | class Trigger : public Sendable
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| 30 | {
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| 31 | public:
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| 32 | Trigger();
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| 33 | virtual ~Trigger() {}
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| 34 | bool Grab();
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| 35 | virtual bool Get() = 0;
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| 36 | void WhenActive(Command *command);
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| 37 | void WhileActive(Command *command);
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| 38 | void WhenInactive(Command *command);
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| 39 |
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| 40 | virtual void InitTable(ITable* table);
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| 41 | virtual ITable* GetTable();
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| 42 | virtual std::string GetSmartDashboardType();
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| 43 | protected:
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| 44 | ITable* m_table;
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| 45 | };
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| 46 |
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| 47 | #endif
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