Buttons

CoreControl provides a powerful button system that wraps standard gamepad inputs to provide advanced features like toggle states, double-click detection, and hold duration tracking.

Overview

The Button and AnalogButton classes allow you to treat gamepad inputs as objects with state. Instead of manually checking if (gamepad1.a && !previousA), you can simply check buttonA.pressed.

Usage

Buttons should be instantiated inside your OpMode. They automatically register themselves to be updated every loop.

Kotlin

class MyOpMode : CoreTeleOp() {
    // Define buttons
    val grabButton = Button { gamepad1.a }
    val shootButton = Button { gamepad1.b }
    val triggerButton = AnalogButton { gamepad1.right_trigger }

    override fun onMainLoop() {
        // Use button states
        if (grabButton.pressed) {
            claw.toggle()
        }

        if (shootButton.held) {
            shooter.spin(1.0)
        } else {
            shooter.spin(0.0)
        }

        if (triggerButton.pressed) {
            // Trigger crossed the threshold
        }
    }
}

Java

public class MyOpMode extends CoreTeleOp {
    // Define buttons
    Button grabButton = new Button(() -> gamepad1.a);
    Button shootButton = new Button(() -> gamepad1.b);
    AnalogButton triggerButton = new AnalogButton(() -> gamepad1.right_trigger);

    @Override
    public void onMainLoop() {
        // Use button states
        if (grabButton.getPressed()) {
            claw.toggle();
        }

        if (shootButton.getHeld()) {
            shooter.spin(1.0);
        } else {
            shooter.spin(0.0);
        }

        if (triggerButton.getPressed()) {
            // Trigger crossed the threshold
        }
    }
}

API Reference

Button

Wraps a digital input (boolean).

Properties:

• pressed: True only on the frame the button was pressed.
• released: True only on the frame the button was released.
• held: True as long as the button is held down.
• toggled: Flips state (true/false) each time the button is pressed.
• doublePressed: True if the button is pressed twice within the double-click interval (default 300ms).

Kotlin

val myButton = Button { gamepad1.x }
if (myButton.doublePressed) {
    // Handle double click
}

Java

Button myButton = new Button(() -> gamepad1.x);
if (myButton.getDoublePressed()) {
    // Handle double click
}

AnalogButton

Wraps an analog input (float) and treats it as a button based on a threshold.

Properties:

• Inherits all properties from Button (pressed, held, etc.).
• value: The raw float value of the input (0.0 to 1.0).

Kotlin

// Threshold defaults to 0.2, but can be customized
val trigger = AnalogButton({ gamepad1.right_trigger }, threshold = 0.5)

if (trigger.pressed) {
    // Trigger passed 0.5
}

Java

// Threshold defaults to 0.2, but can be customized
AnalogButton trigger = new AnalogButton(() -> gamepad1.right_trigger, 0.5);

if (trigger.getPressed()) {
    // Trigger passed 0.5
}

ActionButton

A specialized button that automatically registers a command when triggered.

Kotlin

val launchButton = ActionButton(
    button = { gamepad1.y },
    commandToRun = LaunchDroneCommand(),
    whenToTrigger = ButtonState.WHEN_DOUBLE_PRESSED
)

Java

ActionButton launchButton = new ActionButton(
    () -> gamepad1.y,
    new LaunchDroneCommand(),
    ButtonState.WHEN_DOUBLE_PRESSED
);