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FTC Trigger Bindings Guide

This guide covers the trigger/binding model in valleyLib-ftc.

Core classes

  • CommandGamepad: FTC gamepad wrapper (recommended)
  • CommandXboxLike: shaping + trigger helper base class
  • GamepadEx: backward-compatible alias
  • Trigger: condition pipeline + event bindings
  • TriggerManager: polling registry used by CommandOpMode

Logitech F310 quick start

private CommandGamepad driver;

@Override
protected void initialize() {
    driver = CommandGamepad.forLogitechF310(gamepad1);
}

@Override
protected void configureBindings() {
    triggers.bindAll(
        driver.a().onTrue(claw.closeCommand()),
        driver.b().onTrue(claw.openCommand()),
        driver.rightBumper().whileTrue(intake.runIn()),
        driver.leftBumper().whileTrue(intake.runOut())
    );
}

Event bindings

  • onTrue(command)
  • onFalse(command)
  • onChange(command)
  • whileTrue(command)
  • whileFalse(command)
  • toggleOnTrue(command)

Composition helpers

Build richer conditions:

  • trigger.and(other)
  • trigger.or(other)
  • trigger.negate()
  • trigger.debounce(seconds)

Example:

Trigger shootReady = driver.rightTriggerButton(0.35)
    .and(driver.leftBumper())
    .debounce(0.05);

triggers.bind(shootReady.whileTrue(shooter.feedAndShoot()));

Axis shaping

Use these axis methods for drive/control input:

  • leftX(), leftY(), rightX(), rightY()
  • leftTrigger(), rightTrigger()
  • leftTriggerButton(threshold), rightTriggerButton(threshold)

These values are deadbanded and curve-shaped for smoother control.

Common pitfalls

  • Reuse command instances intentionally for toggleOnTrue (identity-based).
  • Ensure commands reset internal state in initialize().
  • Always declare subsystem requirements.