This repository has been archived on 2020-09-21. You can view files and clone it, but cannot push or open issues or pull requests.
FRC2016-old/wpilib/cpp/current/include/Joystick.h
2016-01-28 11:33:19 -05:00

119 lines
3.8 KiB
C++

/*----------------------------------------------------------------------------*/
/* Copyright (c) FIRST 2008-2016. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
/*----------------------------------------------------------------------------*/
#ifndef JOYSTICK_H_
#define JOYSTICK_H_
#include <cstdint>
#include <memory>
#include <vector>
#include "GenericHID.h"
#include "ErrorBase.h"
class DriverStation;
/**
* Handle input from standard Joysticks connected to the Driver Station.
* This class handles standard input that comes from the Driver Station. Each
* time a value is requested
* the most recent value is returned. There is a single class instance for each
* joystick and the mapping
* of ports to hardware buttons depends on the code in the driver station.
*/
class Joystick : public GenericHID, public ErrorBase {
public:
static const uint32_t kDefaultXAxis = 0;
static const uint32_t kDefaultYAxis = 1;
static const uint32_t kDefaultZAxis = 2;
static const uint32_t kDefaultTwistAxis = 2;
static const uint32_t kDefaultThrottleAxis = 3;
typedef enum {
kXAxis,
kYAxis,
kZAxis,
kTwistAxis,
kThrottleAxis,
kNumAxisTypes
} AxisType;
static const uint32_t kDefaultTriggerButton = 1;
static const uint32_t kDefaultTopButton = 2;
typedef enum { kTriggerButton, kTopButton, kNumButtonTypes } ButtonType;
typedef enum { kLeftRumble, kRightRumble } RumbleType;
typedef enum {
kUnknown = -1,
kXInputUnknown = 0,
kXInputGamepad = 1,
kXInputWheel = 2,
kXInputArcadeStick = 3,
kXInputFlightStick = 4,
kXInputDancePad = 5,
kXInputGuitar = 6,
kXInputGuitar2 = 7,
kXInputDrumKit = 8,
kXInputGuitar3 = 11,
kXInputArcadePad = 19,
kHIDJoystick = 20,
kHIDGamepad = 21,
kHIDDriving = 22,
kHIDFlight = 23,
kHID1stPerson = 24
} HIDType;
explicit Joystick(uint32_t port);
Joystick(uint32_t port, uint32_t numAxisTypes, uint32_t numButtonTypes);
virtual ~Joystick() = default;
Joystick(const Joystick&) = delete;
Joystick& operator=(const Joystick&) = delete;
uint32_t GetAxisChannel(AxisType axis) const;
void SetAxisChannel(AxisType axis, uint32_t channel);
virtual float GetX(JoystickHand hand = kRightHand) const override;
virtual float GetY(JoystickHand hand = kRightHand) const override;
virtual float GetZ() const override;
virtual float GetTwist() const override;
virtual float GetThrottle() const override;
virtual float GetAxis(AxisType axis) const;
float GetRawAxis(uint32_t axis) const override;
virtual bool GetTrigger(JoystickHand hand = kRightHand) const override;
virtual bool GetTop(JoystickHand hand = kRightHand) const override;
virtual bool GetBumper(JoystickHand hand = kRightHand) const override;
virtual bool GetRawButton(uint32_t button) const override;
virtual int GetPOV(uint32_t pov = 0) const override;
bool GetButton(ButtonType button) const;
static Joystick *GetStickForPort(uint32_t port);
virtual float GetMagnitude() const;
virtual float GetDirectionRadians() const;
virtual float GetDirectionDegrees() const;
bool GetIsXbox() const;
Joystick::HIDType GetType() const;
std::string GetName() const;
int GetAxisType(uint8_t axis) const;
int GetAxisCount() const;
int GetButtonCount() const;
int GetPOVCount() const;
void SetRumble(RumbleType type, float value);
void SetOutput(uint8_t outputNumber, bool value);
void SetOutputs(uint32_t value);
private:
DriverStation &m_ds;
uint32_t m_port;
std::vector<uint32_t> m_axes;
std::vector<uint32_t> m_buttons;
uint32_t m_outputs = 0;
uint16_t m_leftRumble = 0;
uint16_t m_rightRumble = 0;
};
#endif