Validate various commands with minor adjustments

- Update docs - Change member variables to be prefixed with _ - Add initSendable
robotpy · Jan 20, 2024 · 1cb70ee · 1cb70ee
1 parent d280859
commit 1cb70ee
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diff --git a/commands2/button/commandgenerichid.py b/commands2/button/commandgenerichid.py
@@ -1,3 +1,4 @@
+# validated: 2024-01-20 DS 92149efa11fa button/CommandGenericHID.java
 from typing import Optional
 
 from wpilib.event import EventLoop
@@ -9,7 +10,7 @@
 
 class CommandGenericHID:
     """
-    A version of GenericHID with Trigger factories for command-based.
+    A version of :class:`wpilib.interfaces.GenericHID` with :class:`.Trigger` factories for command-based.
     """
 
     def __init__(self, port: int):
@@ -31,7 +32,10 @@ def button(self, button: int, loop: Optional[EventLoop] = None) -> Trigger:
         Constructs an event instance around this button's digital signal.
 
         :param button: The button index
-        :param loop: the event loop instance to attache the event to.
+        :param loop: the event loop instance to attach the event to, defaults
+                     to :func:`commands2.CommandScheduler.getDefaultButtonLoop`
+
+        :returns: A trigger instance attached to the event loop
         """
         if loop is None:
             loop = CommandScheduler.getInstance().getDefaultButtonLoop()
@@ -48,8 +52,9 @@ def pov(
 
         :param angle: POV angle in degrees, or -1 for the center / not pressed.
         :param pov: index of the POV to read (starting at 0). Defaults to 0.
-        :param loop: the event loop instance to attach the event to. Defaults to {@link
-            CommandScheduler#getDefaultButtonLoop() the default command scheduler button loop}.
+        :param loop: the event loop instance to attach the event to, defaults
+                     to :func:`commands2.CommandScheduler.getDefaultButtonLoop`
+
         :returns: a Trigger instance based around this angle of a POV on the HID.
         """
         if loop is None:
@@ -59,8 +64,7 @@ def pov(
     def povUp(self) -> Trigger:
         """
         Constructs a Trigger instance based around the 0 degree angle (up) of the default (index 0) POV
-        on the HID, attached to {@link CommandScheduler#getDefaultButtonLoop() the default command
-        scheduler button loop}.
+        on the HID, attached to :func:`commands2.CommandScheduler.getDefaultButtonLoop`
 
         :returns: a Trigger instance based around the 0 degree angle of a POV on the HID.
         """
@@ -69,8 +73,7 @@ def povUp(self) -> Trigger:
     def povUpRight(self) -> Trigger:
         """
         Constructs a Trigger instance based around the 45 degree angle (right up) of the default (index
-        0) POV on the HID, attached to {@link CommandScheduler#getDefaultButtonLoop() the default
-        command scheduler button loop}.
+        0) POV on the HID, attached to :func:`commands2.CommandScheduler.getDefaultButtonLoop`.
 
         :returns: a Trigger instance based around the 45 degree angle of a POV on the HID.
         """
@@ -79,8 +82,7 @@ def povUpRight(self) -> Trigger:
     def povRight(self) -> Trigger:
         """
         Constructs a Trigger instance based around the 90 degree angle (right) of the default (index 0)
-        POV on the HID, attached to {@link CommandScheduler#getDefaultButtonLoop() the default command
-        scheduler button loop}.
+        POV on the HID, attached to :func:`commands2.CommandScheduler.getDefaultButtonLoop`.
 
         :returns: a Trigger instance based around the 90 degree angle of a POV on the HID.
         """
@@ -89,8 +91,7 @@ def povRight(self) -> Trigger:
     def povDownRight(self) -> Trigger:
         """
         Constructs a Trigger instance based around the 135 degree angle (right down) of the default
-        (index 0) POV on the HID, attached to {@link CommandScheduler#getDefaultButtonLoop() the
-        default command scheduler button loop}.
+        (index 0) POV on the HID, attached to :func:`commands2.CommandScheduler.getDefaultButtonLoop`.
 
         :returns: a Trigger instance based around the 135 degree angle of a POV on the HID.
         """
@@ -99,8 +100,7 @@ def povDownRight(self) -> Trigger:
     def povDown(self) -> Trigger:
         """
         Constructs a Trigger instance based around the 180 degree angle (down) of the default (index 0)
-        POV on the HID, attached to {@link CommandScheduler#getDefaultButtonLoop() the default command
-        scheduler button loop}.
+        POV on the HID, attached to :func:`commands2.CommandScheduler.getDefaultButtonLoop`.
 
         :returns: a Trigger instance based around the 180 degree angle of a POV on the HID.
         """
@@ -109,8 +109,7 @@ def povDown(self) -> Trigger:
     def povDownLeft(self) -> Trigger:
         """
         Constructs a Trigger instance based around the 225 degree angle (down left) of the default
-        (index 0) POV on the HID, attached to {@link CommandScheduler#getDefaultButtonLoop() the
-        default command scheduler button loop}.
+        (index 0) POV on the HID, attached to :func:`commands2.CommandScheduler.getDefaultButtonLoop`.
 
         :returns: a Trigger instance based around the 225 degree angle of a POV on the HID.
         """
@@ -119,8 +118,7 @@ def povDownLeft(self) -> Trigger:
     def povLeft(self) -> Trigger:
         """
         Constructs a Trigger instance based around the 270 degree angle (left) of the default (index 0)
-        POV on the HID, attached to {@link CommandScheduler#getDefaultButtonLoop() the default command
-        scheduler button loop}.
+        POV on the HID, attached to :func:`commands2.CommandScheduler.getDefaultButtonLoop`.
 
         :returns: a Trigger instance based around the 270 degree angle of a POV on the HID.
         """
@@ -129,8 +127,7 @@ def povLeft(self) -> Trigger:
     def povUpLeft(self) -> Trigger:
         """
         Constructs a Trigger instance based around the 315 degree angle (left up) of the default (index
-        0) POV on the HID, attached to {@link CommandScheduler#getDefaultButtonLoop() the default
-        command scheduler button loop}.
+        0) POV on the HID, attached to :func:`commands2.CommandScheduler.getDefaultButtonLoop`.
 
         :returns: a Trigger instance based around the 315 degree angle of a POV on the HID.
         """
@@ -139,8 +136,7 @@ def povUpLeft(self) -> Trigger:
     def povCenter(self) -> Trigger:
         """
         Constructs a Trigger instance based around the center (not pressed) position of the default
-        (index 0) POV on the HID, attached to {@link CommandScheduler#getDefaultButtonLoop() the
-        default command scheduler button loop}.
+        (index 0) POV on the HID, attached to :func:`commands2.CommandScheduler.getDefaultButtonLoop`.
 
         :returns: a Trigger instance based around the center position of a POV on the HID.
         """
@@ -150,14 +146,15 @@ def axisLessThan(
         self, axis: int, threshold: float, loop: Optional[EventLoop] = None
     ) -> Trigger:
         """
-        Constructs a Trigger instance that is true when the axis value is less than {@code threshold},
+        Constructs a Trigger instance that is true when the axis value is less than ``threshold``,
         attached to the given loop.
 
         :param axis: The axis to read, starting at 0
         :param threshold: The value below 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 value is less than the provided
-            threshold.
+                  threshold.
         """
         if loop is None:
             loop = CommandScheduler.getInstance().getDefaultButtonLoop()
@@ -167,14 +164,15 @@ def axisGreaterThan(
         self, axis: int, threshold: float, loop: Optional[EventLoop] = None
     ) -> Trigger:
         """
-        Constructs a Trigger instance that is true when the axis value is greater than {@code
-        threshold}, attached to the given loop.
+        Constructs a Trigger instance that is true when the axis value 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 value is greater than the provided
-            threshold.
+                  threshold.
         """
         if loop is None:
             loop = CommandScheduler.getInstance().getDefaultButtonLoop()

diff --git a/commands2/button/commandjoystick.py b/commands2/button/commandjoystick.py
@@ -1,3 +1,4 @@
+# validated: 2024-01-20 DS 92aecab2ef05 button/CommandJoystick.java
 from typing import Optional
 
 from wpilib import Joystick
@@ -10,7 +11,7 @@
 
 class CommandJoystick(CommandGenericHID):
     """
-    A version of Joystick with Trigger factories for command-based.
+    A version of :class:`wpilib.Joystick` with :class:`.Trigger` factories for command-based.
     """
 
     _hid: Joystick
@@ -25,7 +26,7 @@ def __init__(self, port: int):
         super().__init__(port)
         self._hid = Joystick(port)
 
-    def getHID(self):
+    def getHID(self) -> Joystick:
         """
         Get the underlying GenericHID object.
 
@@ -37,7 +38,9 @@ def trigger(self, loop: Optional[EventLoop] = None) -> Trigger:
         """
         Constructs an event instance around the trigger button's digital signal.
 
-        :param loop: the event loop instance to attach the event to.
+        :param loop: the event loop instance to attach the event to, defaults
+                     to :func:`commands2.CommandScheduler.getDefaultButtonLoop`
+
         :returns: an event instance representing the trigger button's digital signal attached to the
             given loop.
         """
@@ -49,9 +52,11 @@ def top(self, loop: Optional[EventLoop] = None) -> Trigger:
         """
         Constructs an event instance around the top button's digital signal.
 
-        :param loop: the event loop instance to attach the event to.
+        :param loop: the event loop instance to attach the event to, defaults
+                     to :func:`commands2.CommandScheduler.getDefaultButtonLoop`
+
         :returns: an event instance representing the top button's digital signal attached to the given
-            loop.
+                  loop.
         """
         if loop is None:
             loop = CommandScheduler.getInstance().getDefaultButtonLoop()
@@ -121,21 +126,21 @@ def getZChannel(self) -> int:
         """
         return self._hid.getZChannel()
 
-    def getThrottleChannel(self) -> int:
+    def getTwistChannel(self) -> int:
         """
-        Get the channel currently associated with the throttle axis.
+        Get the channel currently associated with the twist axis.
 
         :returns: The channel for the axis.
         """
-        return self._hid.getThrottleChannel()
+        return self._hid.getTwistChannel()
 
-    def getTwistChannel(self) -> int:
+    def getThrottleChannel(self) -> int:
         """
-        Get the channel currently associated with the twist axis.
+        Get the channel currently associated with the throttle axis.
 
         :returns: The channel for the axis.
         """
-        return self._hid.getTwistChannel()
+        return self._hid.getThrottleChannel()
 
     def getX(self) -> float:
         """