This class provides an easy way to link commands to conditions. More...

#include <frc2/command/button/Trigger.h>

Inheritance diagram for frc2::Trigger:

Public Member Functions
	Trigger (std::function< bool()> condition)
	Creates a new trigger based on the given condition. More...

	Trigger (frc::EventLoop *loop, std::function< bool()> condition)
	Creates a new trigger based on the given condition. More...

	Trigger ()
	Create a new trigger that is always `false`. More...

	Trigger (const Trigger &other)

Trigger	OnTrue (Command *command)
	Starts the given command whenever the condition changes from `false` to `true`. More...

Trigger	OnTrue (CommandPtr &&command)
	Starts the given command whenever the condition changes from `false` to `true`. More...

Trigger	OnFalse (Command *command)
	Starts the given command whenever the condition changes from `true` to `false`. More...

Trigger	OnFalse (CommandPtr &&command)
	Starts the given command whenever the condition changes from `true` to `false`. More...

Trigger	WhileTrue (Command *command)
	Starts the given command when the condition changes to `true` and cancels it when the condition changes to `false`. More...

Trigger	WhileTrue (CommandPtr &&command)
	Starts the given command when the condition changes to `true` and cancels it when the condition changes to `false`. More...

Trigger	WhileFalse (Command *command)
	Starts the given command when the condition changes to `false` and cancels it when the condition changes to `true`. More...

Trigger	WhileFalse (CommandPtr &&command)
	Starts the given command when the condition changes to `false` and cancels it when the condition changes to `true`. More...

Trigger	ToggleOnTrue (Command *command)
	Toggles a command when the condition changes from `false` to `true`. More...

Trigger	ToggleOnTrue (CommandPtr &&command)
	Toggles a command when the condition changes from `false` to `true`. More...

Trigger	ToggleOnFalse (Command *command)
	Toggles a command when the condition changes from `true` to the low state. More...

Trigger	ToggleOnFalse (CommandPtr &&command)
	Toggles a command when the condition changes from `true` to `false`. More...

Trigger	WhenActive (Command *command)
	Binds a command to start when the trigger becomes active. More...

template<class T , typename = std::enable_if_t<std::is_base_of_v< Command, std::remove_reference_t<T>>>>
Trigger	WhenActive (T &&command)
	Binds a command to start when the trigger becomes active. More...

Trigger	WhenActive (std::function< void()> toRun, std::initializer_list< Subsystem * > requirements)
	Binds a runnable to execute when the trigger becomes active. More...

Trigger	WhenActive (std::function< void()> toRun, std::span< Subsystem *const > requirements={})
	Binds a runnable to execute when the trigger becomes active. More...

Trigger	WhileActiveContinous (Command *command)
	Binds a command to be started repeatedly while the trigger is active, and canceled when it becomes inactive. More...

template<class T , typename = std::enable_if_t<std::is_base_of_v< Command, std::remove_reference_t<T>>>>
Trigger	WhileActiveContinous (T &&command)
	Binds a command to be started repeatedly while the trigger is active, and canceled when it becomes inactive. More...

Trigger	WhileActiveContinous (std::function< void()> toRun, std::initializer_list< Subsystem * > requirements)
	Binds a runnable to execute repeatedly while the trigger is active. More...

Trigger	WhileActiveContinous (std::function< void()> toRun, std::span< Subsystem *const > requirements={})
	Binds a runnable to execute repeatedly while the trigger is active. More...

Trigger	WhileActiveOnce (Command *command)
	Binds a command to be started when the trigger becomes active, and canceled when it becomes inactive. More...

template<class T , typename = std::enable_if_t<std::is_base_of_v< Command, std::remove_reference_t<T>>>>
Trigger	WhileActiveOnce (T &&command)
	Binds a command to be started when the trigger becomes active, and canceled when it becomes inactive. More...

Trigger	WhenInactive (Command *command)
	Binds a command to start when the trigger becomes inactive. More...

template<class T , typename = std::enable_if_t<std::is_base_of_v< Command, std::remove_reference_t<T>>>>
Trigger	WhenInactive (T &&command)
	Binds a command to start when the trigger becomes inactive. More...

Trigger	WhenInactive (std::function< void()> toRun, std::initializer_list< Subsystem * > requirements)
	Binds a runnable to execute when the trigger becomes inactive. More...

Trigger	WhenInactive (std::function< void()> toRun, std::span< Subsystem *const > requirements={})
	Binds a runnable to execute when the trigger becomes inactive. More...

Trigger	ToggleWhenActive (Command *command)
	Binds a command to start when the trigger becomes active, and be canceled when it again becomes active. More...

template<class T , typename = std::enable_if_t<std::is_base_of_v< Command, std::remove_reference_t<T>>>>
Trigger	ToggleWhenActive (T &&command)
	Binds a command to start when the trigger becomes active, and be canceled when it again becomes active. More...

Trigger	CancelWhenActive (Command *command)
	Binds a command to be canceled when the trigger becomes active. More...

Trigger	operator&& (std::function< bool()> rhs)
	Composes two triggers with logical AND. More...

Trigger	operator&& (Trigger rhs)
	Composes two triggers with logical AND. More...

Trigger	operator\|\| (std::function< bool()> rhs)
	Composes two triggers with logical OR. More...

Trigger	operator\|\| (Trigger rhs)
	Composes two triggers with logical OR. More...

Trigger	operator! ()
	Composes a trigger with logical NOT. More...

Trigger	Debounce (units::second_t debounceTime, frc::Debouncer::DebounceType type=frc::Debouncer::DebounceType::kRising)
	Creates a new debounced trigger from this trigger - it will become active when this trigger has been active for longer than the specified period. More...

Detailed Description

This class provides an easy way to link commands to conditions.

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.

Triggers can easily be composed for advanced functionality using the operator!, operator||, operator&& operators.

This class is provided by the NewCommands VendorDep

Constructor & Destructor Documentation

◆ Trigger() [1/4]

frc2::Trigger::Trigger ( std::function< bool()> condition )

inlineexplicit

Creates a new trigger based on the given condition.

Polled by the default scheduler button loop.

Parameters

condition the condition represented by this trigger

◆ Trigger() [2/4]

frc2::Trigger::Trigger	(	frc::EventLoop *	loop,
		std::function< bool()>	condition
	)

inline

Creates a new trigger based on the given condition.

Parameters

loop	The loop instance that polls this trigger.
condition	the condition represented by this trigger

◆ Trigger() [3/4]

frc2::Trigger::Trigger ( )

inline

Create a new trigger that is always false.

◆ Trigger() [4/4]

frc2::Trigger::Trigger ( const Trigger & other )

Member Function Documentation

◆ CancelWhenActive()

Trigger frc2::Trigger::CancelWhenActive ( Command * command )

Binds a command to be canceled when the trigger becomes active.

Takes a raw pointer, and so is non-owning; users are responsible for the lifespan and scheduling of the command.

Parameters

command The command to bind.

Returns: The trigger, for chained calls.

Deprecated:: Pass this as a command end condition with Until() instead.

◆ Debounce()

Trigger frc2::Trigger::Debounce	(	units::second_t	debounceTime,
		frc::Debouncer::DebounceType	type = `frc::Debouncer::DebounceType::kRising`
	)

Creates a new debounced trigger from this trigger - it will become active when this trigger has been active for longer than the specified period.

Parameters

debounceTime	The debounce period.
type	The debounce type.

Returns: The debounced trigger.

◆ OnFalse() [1/2]

Trigger frc2::Trigger::OnFalse ( Command * command )

Starts the given command whenever the condition changes from true to false.

Takes a raw pointer, and so is non-owning; users are responsible for the lifespan of the command.

Parameters

command the command to start

Returns: this trigger, so calls can be chained

◆ OnFalse() [2/2]

Trigger frc2::Trigger::OnFalse ( CommandPtr && command )

Starts the given command whenever the condition changes from true to false.

Parameters

command The command to bind.

Returns: The trigger, for chained calls.

◆ OnTrue() [1/2]

Trigger frc2::Trigger::OnTrue ( Command * command )

Starts the given command whenever the condition changes from false to true.

Takes a raw pointer, and so is non-owning; users are responsible for the lifespan of the command.

Parameters

command the command to start

Returns: this trigger, so calls can be chained

◆ OnTrue() [2/2]

Trigger frc2::Trigger::OnTrue ( CommandPtr && command )

Starts the given command whenever the condition changes from false to true.

Moves command ownership to the button scheduler.

Parameters

command The command to bind.

Returns: The trigger, for chained calls.

◆ operator!()

Trigger frc2::Trigger::operator! ( )

inline

Composes a trigger with logical NOT.

Returns: A trigger which is active when the component trigger is inactive, and vice-versa.

◆ operator&&() [1/2]

Trigger frc2::Trigger::operator&& ( std::function< bool()> rhs )

inline

Composes two triggers with logical AND.

Returns: A trigger which is active when both component triggers are active.

◆ operator&&() [2/2]

Trigger frc2::Trigger::operator&& ( Trigger rhs )

inline

Composes two triggers with logical AND.

Returns: A trigger which is active when both component triggers are active.

◆ operator||() [1/2]

Trigger frc2::Trigger::operator|| ( std::function< bool()> rhs )

inline

Composes two triggers with logical OR.

Returns: A trigger which is active when either component trigger is active.

◆ operator||() [2/2]

Trigger frc2::Trigger::operator|| ( Trigger rhs )

inline

Composes two triggers with logical OR.

Returns: A trigger which is active when either component trigger is active.

◆ ToggleOnFalse() [1/2]

Trigger frc2::Trigger::ToggleOnFalse ( Command * command )

Toggles a command when the condition changes from true to the low state.

Takes a raw pointer, and so is non-owning; users are responsible for the lifespan of the command.

Parameters

command the command to toggle

Returns: this trigger, so calls can be chained

◆ ToggleOnFalse() [2/2]

Trigger frc2::Trigger::ToggleOnFalse ( CommandPtr && command )

Toggles a command when the condition changes from true to false.

Takes a raw pointer, and so is non-owning; users are responsible for the lifespan of the command.

Parameters

command the command to toggle

Returns: this trigger, so calls can be chained

◆ ToggleOnTrue() [1/2]

Trigger frc2::Trigger::ToggleOnTrue ( Command * command )

Toggles a command when the condition changes from false to true.

Takes a raw pointer, and so is non-owning; users are responsible for the lifespan of the command.

Parameters

command the command to toggle

Returns: this trigger, so calls can be chained

◆ ToggleOnTrue() [2/2]

Trigger frc2::Trigger::ToggleOnTrue ( CommandPtr && command )

Toggles a command when the condition changes from false to true.

Takes a raw pointer, and so is non-owning; users are responsible for the lifespan of the command.

Parameters

command the command to toggle

Returns: this trigger, so calls can be chained

◆ ToggleWhenActive() [1/2]

Trigger frc2::Trigger::ToggleWhenActive ( Command * command )

Binds a command to start when the trigger becomes active, and be canceled when it again becomes active.

Takes a raw pointer, and so is non-owning; users are responsible for the lifespan of the command.

Parameters

command The command to bind.

Returns: The trigger, for chained calls.

Deprecated:: Use ToggleOnTrue(Command) instead.

◆ ToggleWhenActive() [2/2]

template<class T , typename = std::enable_if_t<std::is_base_of_v< Command, std::remove_reference_t<T>>>>

Trigger frc2::Trigger::ToggleWhenActive ( T && command )

inline

Binds a command to start when the trigger becomes active, and be canceled when it again becomes active.

Transfers command ownership to the button scheduler, so the user does not have to worry about lifespan - rvalue refs will be moved, lvalue refs will be copied.

Parameters

command The command to bind.

Returns: The trigger, for chained calls.

Deprecated:: Use ToggleOnTrue(Command) instead.

◆ WhenActive() [1/4]

Trigger frc2::Trigger::WhenActive ( Command * command )

Binds a command to start when the trigger becomes active.

Takes a raw pointer, and so is non-owning; users are responsible for the lifespan of the command.

Parameters

command The command to bind.

Returns: The trigger, for chained calls.

Deprecated:: Use OnTrue(Command) instead

◆ WhenActive() [2/4]

Trigger frc2::Trigger::WhenActive	(	std::function< void()>	toRun,
		std::initializer_list< Subsystem * >	requirements
	)

Binds a runnable to execute when the trigger becomes active.

Parameters

toRun	the runnable to execute.
requirements	the required subsystems.

Deprecated:: Use OnTrue(Command) instead and construct the InstantCommand manually

◆ WhenActive() [3/4]

Trigger frc2::Trigger::WhenActive	(	std::function< void()>	toRun,
		std::span< Subsystem *const >	requirements = `{}`
	)

Binds a runnable to execute when the trigger becomes active.

Parameters

toRun	the runnable to execute.
requirements	the required subsystems.

Deprecated:: Use OnTrue(Command) instead and construct the InstantCommand manually

◆ WhenActive() [4/4]

template<class T , typename = std::enable_if_t<std::is_base_of_v< Command, std::remove_reference_t<T>>>>

Trigger frc2::Trigger::WhenActive ( T && command )

inline

Binds a command to start when the trigger becomes active.

Transfers command ownership to the button scheduler, so the user does not have to worry about lifespan - rvalue refs will be moved, lvalue refs will be copied.

Parameters

command The command to bind.

Returns: The trigger, for chained calls.

Deprecated:: Use OnTrue(Command) instead

◆ WhenInactive() [1/4]

Trigger frc2::Trigger::WhenInactive ( Command * command )

Binds a command to start when the trigger becomes inactive.

Takes a raw pointer, and so is non-owning; users are responsible for the lifespan of the command.

Parameters

command The command to bind.

Returns: The trigger, for chained calls.

Deprecated:: Use OnFalse(Command) instead.

◆ WhenInactive() [2/4]

Trigger frc2::Trigger::WhenInactive	(	std::function< void()>	toRun,
		std::initializer_list< Subsystem * >	requirements
	)

Binds a runnable to execute when the trigger becomes inactive.

Parameters

toRun	the runnable to execute.
requirements	the required subsystems.

Deprecated:: Use OnFalse(Command) instead and construct the InstantCommand manually

◆ WhenInactive() [3/4]

Trigger frc2::Trigger::WhenInactive	(	std::function< void()>	toRun,
		std::span< Subsystem *const >	requirements = `{}`
	)

Binds a runnable to execute when the trigger becomes inactive.

Parameters

toRun	the runnable to execute.
requirements	the required subsystems.

Deprecated:: Use OnFalse(Command) instead and construct the InstantCommand manually

◆ WhenInactive() [4/4]

template<class T , typename = std::enable_if_t<std::is_base_of_v< Command, std::remove_reference_t<T>>>>

Trigger frc2::Trigger::WhenInactive ( T && command )

inline

Binds a command to start when the trigger becomes inactive.

Transfers command ownership to the button scheduler, so the user does not have to worry about lifespan - rvalue refs will be moved, lvalue refs will be copied.

Parameters

command The command to bind.

Returns: The trigger, for chained calls.

Deprecated:: Use OnFalse(Command) instead.

◆ WhileActiveContinous() [1/4]

Trigger frc2::Trigger::WhileActiveContinous ( Command * command )

Binds a command to be started repeatedly while the trigger is active, and canceled when it becomes inactive.

Takes a raw pointer, and so is non-owning; users are responsible for the lifespan of the command.

Parameters

command The command to bind.

Returns: The trigger, for chained calls.

Deprecated:: Use WhileTrue(Command) with RepeatCommand, or bind command::Schedule with IfHigh(std::function<void()>).

◆ WhileActiveContinous() [2/4]

Trigger frc2::Trigger::WhileActiveContinous	(	std::function< void()>	toRun,
		std::initializer_list< Subsystem * >	requirements
	)

Binds a runnable to execute repeatedly while the trigger is active.

Parameters

toRun	the runnable to execute.
requirements	the required subsystems.

Deprecated:: Use WhileTrue(Command) and construct a RunCommand manually

◆ WhileActiveContinous() [3/4]

Trigger frc2::Trigger::WhileActiveContinous	(	std::function< void()>	toRun,
		std::span< Subsystem *const >	requirements = `{}`
	)

Binds a runnable to execute repeatedly while the trigger is active.

Parameters

toRun	the runnable to execute.
requirements	the required subsystems.

Deprecated:: Use WhileTrue(Command) and construct a RunCommand manually

◆ WhileActiveContinous() [4/4]

template<class T , typename = std::enable_if_t<std::is_base_of_v< Command, std::remove_reference_t<T>>>>

Trigger frc2::Trigger::WhileActiveContinous ( T && command )

inline

Binds a command to be started repeatedly while the trigger is active, and canceled when it becomes inactive.

Transfers command ownership to the button scheduler, so the user does not have to worry about lifespan - rvalue refs will be moved, lvalue refs will be copied.

Parameters

command The command to bind.

Returns: The trigger, for chained calls.

Deprecated:: Use WhileTrue(Command) with RepeatCommand, or bind command::Schedule with IfHigh(std::function<void()>).

◆ WhileActiveOnce() [1/2]

Trigger frc2::Trigger::WhileActiveOnce ( Command * command )

Binds a command to be started when the trigger becomes active, and canceled when it becomes inactive.

Takes a raw pointer, and so is non-owning; users are responsible for the lifespan of the command.

Parameters

command The command to bind.

Returns: The trigger, for chained calls.

Deprecated:: Use WhileTrue(Command) instead.

◆ WhileActiveOnce() [2/2]

template<class T , typename = std::enable_if_t<std::is_base_of_v< Command, std::remove_reference_t<T>>>>

Trigger frc2::Trigger::WhileActiveOnce ( T && command )

inline

Binds a command to be started when the trigger becomes active, and canceled when it becomes inactive.

Transfers command ownership to the button scheduler, so the user does not have to worry about lifespan - rvalue refs will be moved, lvalue refs will be copied.

Parameters

command The command to bind.

Returns: The trigger, for chained calls.

Deprecated:: Use WhileTrue(Command) instead.

◆ WhileFalse() [1/2]

Trigger frc2::Trigger::WhileFalse ( Command * command )

Starts the given command when the condition changes to false and cancels it when the condition changes to true.

Doesn't re-start the command if it ends while the condition is still true. If the command should restart, see RepeatCommand.

Takes a raw pointer, and so is non-owning; users are responsible for the lifespan of the command.

Parameters

command the command to start

Returns: this trigger, so calls can be chained

◆ WhileFalse() [2/2]

Trigger frc2::Trigger::WhileFalse ( CommandPtr && command )

Starts the given command when the condition changes to false and cancels it when the condition changes to true.

Moves command ownership to the button scheduler.

Doesn't re-start the command if it ends while the condition is still false. If the command should restart, see RepeatCommand.

Parameters

command The command to bind.

Returns: The trigger, for chained calls.

◆ WhileTrue() [1/2]

Trigger frc2::Trigger::WhileTrue ( Command * command )

Starts the given command when the condition changes to true and cancels it when the condition changes to false.

Doesn't re-start the command if it ends while the condition is still true. If the command should restart, see RepeatCommand.

Takes a raw pointer, and so is non-owning; users are responsible for the lifespan of the command.

Parameters

command the command to start

Returns: this trigger, so calls can be chained

◆ WhileTrue() [2/2]

Trigger frc2::Trigger::WhileTrue ( CommandPtr && command )

Starts the given command when the condition changes to true and cancels it when the condition changes to false.

Moves command ownership to the button scheduler.

Doesn't re-start the command if it ends while the condition is still true. If the command should restart, see RepeatCommand.

Parameters

command The command to bind.

Returns: The trigger, for chained calls.

The documentation for this class was generated from the following file:

frc2/command/button/Trigger.h

Public Member Functions

Detailed Description

Constructor & Destructor Documentation

◆ Trigger() [1/4]

◆ Trigger() [2/4]

◆ Trigger() [3/4]

◆ Trigger() [4/4]

Member Function Documentation

◆ CancelWhenActive()

◆ Debounce()

◆ OnFalse() [1/2]

◆ OnFalse() [2/2]

◆ OnTrue() [1/2]

◆ OnTrue() [2/2]

◆ operator!()

◆ operator&&() [1/2]

◆ operator&&() [2/2]

◆ operator||() [1/2]

◆ operator||() [2/2]

◆ ToggleOnFalse() [1/2]

◆ ToggleOnFalse() [2/2]

◆ ToggleOnTrue() [1/2]

◆ ToggleOnTrue() [2/2]

◆ ToggleWhenActive() [1/2]

◆ ToggleWhenActive() [2/2]

◆ WhenActive() [1/4]

◆ WhenActive() [2/4]

◆ WhenActive() [3/4]

◆ WhenActive() [4/4]

◆ WhenInactive() [1/4]

◆ WhenInactive() [2/4]

◆ WhenInactive() [3/4]

◆ WhenInactive() [4/4]

◆ WhileActiveContinous() [1/4]

◆ WhileActiveContinous() [2/4]

◆ WhileActiveContinous() [3/4]

◆ WhileActiveContinous() [4/4]

◆ WhileActiveOnce() [1/2]

◆ WhileActiveOnce() [2/2]

◆ WhileFalse() [1/2]

◆ WhileFalse() [2/2]

◆ WhileTrue() [1/2]

◆ WhileTrue() [2/2]