Controls

Chop Shop code uses wrappers around the WPIlib classes.

Controllers

The main wrapper, ButtonXboxController, adds buttons such as a(), b(), lbumper(), rstick(), povUp(), etc. to the WPIlib XboxController class. These buttons provide JoystickButton objects, but also cache them so you're getting the same object each time the function is called. In addition, the objects are only created if requested.

Triggers

We add one additional Trigger to WPIlib's concepts:

• AxisButton returns true if the given axis on the given controller is above 0.5, or if the given predicate is true about its value.

Callbacks

CallbackUtils provides a handful of functions to tie a consumer into Network Tables. The register function provides ways to associate a table and key name, with a callback to run when the value changes.