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[cmd] Add deadband trigger methods to CommandGenericHID #72

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merged 1 commit into from
Oct 19, 2024
Merged

[cmd] Add deadband trigger methods to CommandGenericHID #72

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18 changes: 18 additions & 0 deletions commands2/button/commandgenerichid.py
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Original file line number Diff line number Diff line change
Expand Up @@ -177,6 +177,24 @@ def axisGreaterThan(
if loop is None:
loop = CommandScheduler.getInstance().getDefaultButtonLoop()
return Trigger(loop, lambda: self._hid.getRawAxis(axis) > threshold)

def axisMagnitudeGreaterThan(
self, axis: int, threshold: float, loop: Optional[EventLoop] = None
) -> Trigger:
"""
Constructs a Trigger instance that is true when the axis magnitude is greater than
``threshold``, attached to the given loop.

:param axis: The axis to read, starting at 0
:param threshold: The value above which this trigger should return true.
:param loop: the event loop instance to attach the trigger to.

:returns: a Trigger instance that is true when the axis magnitude is greater than the provided
threshold.
"""
if loop is None:
loop = CommandScheduler.getInstance().getDefaultButtonLoop()
return Trigger(loop, lambda: abs(self._hid.getRawAxis(axis)) > threshold)

def getRawAxis(self, axis: int) -> float:
"""
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