Team2890/allwpilib
4
0
Fork 0
mirror of https://github.com/wpilibsuite/allwpilib synced 2026-07-02 02:51:42 +00:00
Code Issues Packages Projects Releases Wiki Activity

Added XboxController class (#140)

Browse Source 
Joystick and Gamepad functionality was separated into cleaner interfaces.
This commit is contained in:
Tyler Veness
2016-11-18 23:05:37 -08:00
committed by Peter Johnson
parent 8c93ceb728
commit 140c365e4b
22 changed files with 1499 additions and 646 deletions
Download Patch File Download Diff File Expand all files Collapse all files

122
wpilibc/athena/include/Joystick.h
View File

@@ -1,122 +0,0 @@
/*----------------------------------------------------------------------------*/
/* 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. */
/*----------------------------------------------------------------------------*/
#pragma once
#include <stdint.h>
#include <memory>
#include <string>
#include <vector>
#include "ErrorBase.h"
#include "GenericHID.h"
namespace frc {
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 int kDefaultXAxis = 0;
static const int kDefaultYAxis = 1;
static const int kDefaultZAxis = 2;
static const int kDefaultTwistAxis = 2;
static const int kDefaultThrottleAxis = 3;
typedef enum {
kXAxis,
kYAxis,
kZAxis,
kTwistAxis,
kThrottleAxis,
kNumAxisTypes
} AxisType;
static const int kDefaultTriggerButton = 1;
static const int 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(int port);
Joystick(int port, int numAxisTypes, int numButtonTypes);
virtual ~Joystick() = default;
Joystick(const Joystick&) = delete;
Joystick& operator=(const Joystick&) = delete;
int GetAxisChannel(AxisType axis) const;
void SetAxisChannel(AxisType axis, int channel);
float GetX(JoystickHand hand = kRightHand) const override;
float GetY(JoystickHand hand = kRightHand) const override;
float GetZ() const override;
float GetTwist() const override;
float GetThrottle() const override;
virtual float GetAxis(AxisType axis) const;
float GetRawAxis(int axis) const override;
bool GetTrigger(JoystickHand hand = kRightHand) const override;
bool GetTop(JoystickHand hand = kRightHand) const override;
bool GetBumper(JoystickHand hand = kRightHand) const override;
bool GetRawButton(int button) const override;
int GetPOV(int pov = 0) const override;
bool GetButton(ButtonType button) const;
static Joystick* GetStickForPort(int 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 GetPort() const;
int GetAxisType(int axis) const;
int GetAxisCount() const;
int GetButtonCount() const;
int GetPOVCount() const;
void SetRumble(RumbleType type, float value);
void SetOutput(int outputNumber, bool value);
void SetOutputs(int value);
private:
DriverStation& m_ds;
int m_port;
std::vector<int> m_axes;
std::vector<int> m_buttons;
int m_outputs = 0;
uint16_t m_leftRumble = 0;
uint16_t m_rightRumble = 0;
};
} // namespace frc

1
wpilibc/athena/include/WPILib.h
View File

@@ -82,6 +82,7 @@
#include "Victor.h"
#include "VictorSP.h"
#include "WPIErrors.h"
#include "XboxController.h"
#include "interfaces/Accelerometer.h"
#include "interfaces/Gyro.h"
#include "interfaces/Potentiometer.h"

129
wpilibc/athena/src/GenericHID.cpp Normal file
View File

@@ -0,0 +1,129 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) FIRST 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. */
/*----------------------------------------------------------------------------*/
#include "GenericHID.h"
#include "DriverStation.h"
#include "HAL/HAL.h"
using namespace frc;
GenericHID::GenericHID(int port) : m_ds(DriverStation::GetInstance()) {
m_port = port;
}
/**
* Get the value of the axis.
*
* @param axis The axis to read, starting at 0.
* @return The value of the axis.
*/
float GenericHID::GetRawAxis(int axis) const {
return m_ds.GetStickAxis(m_port, axis);
}
/**
* Get the button value (starting at button 1)
*
* The buttons are returned in a single 16 bit value with one bit representing
* the state of each button. The appropriate button is returned as a boolean
* value.
*
* @param button The button number to be read (starting at 1)
* @return The state of the button.
**/
bool GenericHID::GetRawButton(int button) const {
return m_ds.GetStickButton(m_port, button);
}
/**
* Get the angle in degrees of a POV on the HID.
*
* The POV angles start at 0 in the up direction, and increase clockwise
* (e.g. right is 90, upper-left is 315).
*
* @param pov The index of the POV to read (starting at 0)
* @return the angle of the POV in degrees, or -1 if the POV is not pressed.
*/
int GenericHID::GetPOV(int pov) const {
return m_ds.GetStickPOV(GetPort(), pov);
}
/**
* Get the number of POVs for the HID.
*
* @return the number of POVs for the current HID
*/
int GenericHID::GetPOVCount() const { return m_ds.GetStickPOVCount(GetPort()); }
/**
* Get the port number of the HID.
*
* @return The port number of the HID.
*/
int GenericHID::GetPort() const { return m_port; }
/**
* Get the type of the HID.
*
* @return the type of the HID.
*/
GenericHID::HIDType GenericHID::GetType() const {
return static_cast<HIDType>(m_ds.GetJoystickType(m_port));
}
/**
* Get the name of the HID.
*
* @return the name of the HID.
*/
std::string GenericHID::GetName() const { return m_ds.GetJoystickName(m_port); }
/**
* Set a single HID output value for the HID.
*
* @param outputNumber The index of the output to set (1-32)
* @param value The value to set the output to
*/
void GenericHID::SetOutput(int outputNumber, bool value) {
m_outputs =
(m_outputs & ~(1 << (outputNumber - 1))) | (value << (outputNumber - 1));
HAL_SetJoystickOutputs(m_port, m_outputs, m_leftRumble, m_rightRumble);
}
/**
* Set all output values for the HID.
*
* @param value The 32 bit output value (1 bit for each output)
*/
void GenericHID::SetOutputs(int value) {
m_outputs = value;
HAL_SetJoystickOutputs(m_port, m_outputs, m_leftRumble, m_rightRumble);
}
/**
* Set the rumble output for the HID.
*
* The DS currently supports 2 rumble values, left rumble and right rumble.
*
* @param type Which rumble value to set
* @param value The normalized value (0 to 1) to set the rumble to
*/
void GenericHID::SetRumble(RumbleType type, double value) {
if (value < 0)
value = 0;
else if (value > 1)
value = 1;
if (type == kLeftRumble) {
m_leftRumble = value * 65535;
} else {
m_rightRumble = value * 65535;
}
HAL_SetJoystickOutputs(m_port, m_outputs, m_leftRumble, m_rightRumble);
}

152
wpilibc/athena/src/Joystick.cpp
View File

@@ -28,9 +28,9 @@ static bool joySticksInitialized = false;
/**
* Construct an instance of a joystick.
*
* The joystick index is the usb port on the drivers station.
* The joystick index is the USB port on the Driver Station.
*
* @param port The port on the driver station that the joystick is plugged into
* @param port The port on the Driver Station that the joystick is plugged into
* (0-5).
*/
Joystick::Joystick(int port) : Joystick(port, kNumAxisTypes, kNumButtonTypes) {
@@ -52,24 +52,24 @@ Joystick::Joystick(int port) : Joystick(port, kNumAxisTypes, kNumButtonTypes) {
* This constructor allows the subclass to configure the number of constants
* for axes and buttons.
*
* @param port The port on the driver station that the joystick is
* @param port The port on the Driver Station that the joystick is
* plugged into.
* @param numAxisTypes The number of axis types in the enum.
* @param numButtonTypes The number of button types in the enum.
*/
Joystick::Joystick(int port, int numAxisTypes, int numButtonTypes)
: m_ds(DriverStation::GetInstance()),
m_port(port),
: JoystickBase(port),
m_ds(DriverStation::GetInstance()),
m_axes(numAxisTypes),
m_buttons(numButtonTypes) {
if (!joySticksInitialized) {
for (auto& joystick : joysticks) joystick = nullptr;
joySticksInitialized = true;
}
if (m_port >= DriverStation::kJoystickPorts) {
if (GetPort() >= DriverStation::kJoystickPorts) {
wpi_setWPIError(BadJoystickIndex);
} else {
joysticks[m_port] = this;
joysticks[GetPort()] = this;
}
}
@@ -111,7 +111,9 @@ float Joystick::GetY(JoystickHand hand) const {
*
* This depends on the mapping of the joystick connected to the current port.
*/
float Joystick::GetZ() const { return GetRawAxis(m_axes[kZAxis]); }
float Joystick::GetZ(JoystickHand hand) const {
return GetRawAxis(m_axes[kZAxis]);
}
/**
* Get the twist value of the current joystick.
@@ -129,16 +131,6 @@ float Joystick::GetThrottle() const {
return GetRawAxis(m_axes[kThrottleAxis]);
}
/**
* Get the value of the axis.
*
* @param axis The axis to read, starting at 0.
* @return The value of the axis.
*/
float Joystick::GetRawAxis(int axis) const {
return m_ds.GetStickAxis(m_port, axis);
}
/**
* For the current joystick, return the axis determined by the argument.
*
@@ -193,41 +185,6 @@ bool Joystick::GetTop(JoystickHand hand) const {
return GetRawButton(m_buttons[kTopButton]);
}
/**
* This is not supported for the Joystick.
*
* This method is only here to complete the GenericHID interface.
*/
bool Joystick::GetBumper(JoystickHand hand) const {
// Joysticks don't have bumpers.
return false;
}
/**
* Get the button value (starting at button 1)
*
* The buttons are returned in a single 16 bit value with one bit representing
* the state of each button. The appropriate button is returned as a boolean
* value.
*
* @param button The button number to be read (starting at 1)
* @return The state of the button.
**/
bool Joystick::GetRawButton(int button) const {
return m_ds.GetStickButton(m_port, button);
}
/**
* Get the angle in degrees of a POV on the joystick.
*
* The POV angles start at 0 in the up direction, and increase clockwise
* (e.g. right is 90, upper-left is 315).
*
* @param pov The index of the POV to read (starting at 0)
* @return the angle of the POV in degrees, or -1 if the POV is not pressed.
*/
int Joystick::GetPOV(int pov) const { return m_ds.GetStickPOV(m_port, pov); }
/**
* Get buttons based on an enumerated type.
*
@@ -252,37 +209,7 @@ bool Joystick::GetButton(ButtonType button) const {
*
* @return the number of axis for the current joystick
*/
int Joystick::GetAxisCount() const { return m_ds.GetStickAxisCount(m_port); }
/**
* Get the value of isXbox for the joystick.
*
* @return A boolean that is true if the joystick is an xbox controller.
*/
bool Joystick::GetIsXbox() const { return m_ds.GetJoystickIsXbox(m_port); }
/**
* Get the HID type of the controller.
*
* @return the HID type of the controller.
*/
Joystick::HIDType Joystick::GetType() const {
return static_cast<HIDType>(m_ds.GetJoystickType(m_port));
}
/**
* Get the name of the joystick.
*
* @return the name of the controller.
*/
std::string Joystick::GetName() const { return m_ds.GetJoystickName(m_port); }
/**
* Get the port number of the joystick.
*
* @return The port number of the joystick.
*/
int Joystick::GetPort() const { return m_port; }
int Joystick::GetAxisCount() const { return m_ds.GetStickAxisCount(GetPort()); }
/**
* Get the axis type of a joystick axis.
@@ -290,25 +217,18 @@ int Joystick::GetPort() const { return m_port; }
* @return the axis type of a joystick axis.
*/
int Joystick::GetAxisType(int axis) const {
return m_ds.GetJoystickAxisType(m_port, axis);
return m_ds.GetJoystickAxisType(GetPort(), axis);
}
/**
* Get the number of axis for a joystick.
* Get the number of buttons for a joystick.
*
* @return the number of buttons on the current joystick
*/
int Joystick::GetButtonCount() const {
return m_ds.GetStickButtonCount(m_port);
return m_ds.GetStickButtonCount(GetPort());
}
/**
* Get the number of axis for a joystick.
*
* @return the number of POVs for the current joystick
*/
int Joystick::GetPOVCount() const { return m_ds.GetStickPOVCount(m_port); }
/**
* Get the channel currently associated with the specified axis.
*
@@ -359,47 +279,3 @@ float Joystick::GetDirectionRadians() const {
float Joystick::GetDirectionDegrees() const {
return (180 / std::acos(-1)) * GetDirectionRadians();
}
/**
* Set the rumble output for the joystick.
*
* The DS currently supports 2 rumble values, left rumble and right rumble.
*
* @param type Which rumble value to set
* @param value The normalized value (0 to 1) to set the rumble to
*/
void Joystick::SetRumble(RumbleType type, float value) {
if (value < 0)
value = 0;
else if (value > 1)
value = 1;
if (type == kLeftRumble)
m_leftRumble = value * 65535;
else
m_rightRumble = value * 65535;
HAL_SetJoystickOutputs(m_port, m_outputs, m_leftRumble, m_rightRumble);
}
/**
* Set a single HID output value for the joystick.
*
* @param outputNumber The index of the output to set (1-32)
* @param value The value to set the output to
*/
void Joystick::SetOutput(int outputNumber, bool value) {
m_outputs =
(m_outputs & ~(1 << (outputNumber - 1))) | (value << (outputNumber - 1));
HAL_SetJoystickOutputs(m_port, m_outputs, m_leftRumble, m_rightRumble);
}
/**
* Set all HID output values for the joystick.
*
* @param value The 32 bit output value (1 bit for each output)
*/
void Joystick::SetOutputs(int value) {
m_outputs = value;
HAL_SetJoystickOutputs(m_port, m_outputs, m_leftRumble, m_rightRumble);
}

141
wpilibc/athena/src/XboxController.cpp Normal file
View File

@@ -0,0 +1,141 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) FIRST 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. */
/*----------------------------------------------------------------------------*/
#include "XboxController.h"
#include "DriverStation.h"
#include "HAL/HAL.h"
using namespace frc;
/**
* Construct an instance of an Xbox controller.
*
* The joystick index is the USB port on the Driver Station.
*
* @param port The port on the Driver Station that the joystick is plugged into
* (0-5).
*/
XboxController::XboxController(int port)
: GamepadBase(port), m_ds(DriverStation::GetInstance()) {
// HAL_Report(HALUsageReporting::kResourceType_XboxController, port);
HAL_Report(HALUsageReporting::kResourceType_Joystick, port);
}
/**
* Get the X axis value of the controller.
*
* @param hand Side of controller whose value should be returned.
*/
float XboxController::GetX(JoystickHand hand) const {
if (hand == kLeftHand) {
return GetRawAxis(0);
} else {
return GetRawAxis(4);
}
}
/**
* Get the Y axis value of the controller.
*
* @param hand Side of controller whose value should be returned.
*/
float XboxController::GetY(JoystickHand hand) const {
if (hand == kLeftHand) {
return GetRawAxis(1);
} else {
return GetRawAxis(5);
}
}
/**
* Read the value of the bumper button on the controller.
*
* @param hand Side of controller whose value should be returned.
*/
bool XboxController::GetBumper(JoystickHand hand) const {
if (hand == kLeftHand) {
return GetRawButton(5);
} else {
return GetRawButton(6);
}
}
/**
* Read the value of the stick button on the controller.
*
* @param hand Side of controller whose value should be returned.
* @return The state of the button.
*/
bool XboxController::GetStickButton(JoystickHand hand) const {
if (hand == kLeftHand) {
return GetRawButton(9);
} else {
return GetRawButton(10);
}
}
/**
* Get the trigger axis value of the controller.
*
* @param hand Side of controller whose value should be returned.
*/
float XboxController::GetTriggerAxis(JoystickHand hand) const {
if (hand == kLeftHand) {
return GetRawAxis(2);
} else {
return GetRawAxis(3);
}
}
/**
* Read the value of the A button on the controller.
*
* @param hand Side of controller whose value should be returned.
* @return The state of the button.
*/
bool XboxController::GetAButton() const { return GetRawButton(1); }
/**
* Read the value of the B button on the controller.
*
* @param hand Side of controller whose value should be returned.
* @return The state of the button.
*/
bool XboxController::GetBButton() const { return GetRawButton(2); }
/**
* Read the value of the X button on the controller.
*
* @param hand Side of controller whose value should be returned.
* @return The state of the button.
*/
bool XboxController::GetXButton() const { return GetRawButton(3); }
/**
* Read the value of the Y button on the controller.
*
* @param hand Side of controller whose value should be returned.
* @return The state of the button.
*/
bool XboxController::GetYButton() const { return GetRawButton(4); }
/**
* Read the value of the back button on the controller.
*
* @param hand Side of controller whose value should be returned.
* @return The state of the button.
*/
bool XboxController::GetBackButton() const { return GetRawButton(7); }
/**
* Read the value of the start button on the controller.
*
* @param hand Side of controller whose value should be returned.
* @return The state of the button.
*/
bool XboxController::GetStartButton() const { return GetRawButton(8); }

26
wpilibc/shared/include/GamepadBase.h Normal file
View File

@@ -0,0 +1,26 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) FIRST 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. */
/*----------------------------------------------------------------------------*/
#pragma once
#include "GenericHID.h"
namespace frc {
/**
* Gamepad Interface.
*/
class GamepadBase : public GenericHID {
public:
explicit GamepadBase(int port);
virtual ~GamepadBase() = default;
virtual bool GetBumper(JoystickHand hand = kRightHand) const = 0;
virtual bool GetStickButton(JoystickHand hand) const = 0;
};
} // namespace frc

55
wpilibc/shared/include/GenericHID.h
View File

@@ -9,30 +9,67 @@
#include <stdint.h>
#include <string>
namespace frc {
class DriverStation;
/**
* GenericHID Interface.
*/
class GenericHID {
public:
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;
enum JoystickHand { kLeftHand = 0, kRightHand = 1 };
explicit GenericHID(int port);
virtual ~GenericHID() = default;
virtual float GetX(JoystickHand hand = kRightHand) const = 0;
virtual float GetY(JoystickHand hand = kRightHand) const = 0;
virtual float GetZ() const = 0;
virtual float GetTwist() const = 0;
virtual float GetThrottle() const = 0;
virtual float GetRawAxis(int axis) const = 0;
virtual float GetRawAxis(int axis) const;
virtual bool GetTrigger(JoystickHand hand = kRightHand) const = 0;
virtual bool GetTop(JoystickHand hand = kRightHand) const = 0;
virtual bool GetBumper(JoystickHand hand = kRightHand) const = 0;
virtual bool GetRawButton(int button) const = 0;
bool GetRawButton(int button) const;
virtual int GetPOV(int pov = 0) const = 0;
int GetPOV(int pov = 0) const;
int GetPOVCount() const;
int GetPort() const;
GenericHID::HIDType GetType() const;
std::string GetName() const;
void SetOutput(int outputNumber, bool value);
void SetOutputs(int value);
void SetRumble(RumbleType type, double value);
private:
DriverStation& m_ds;
int m_port;
int m_outputs = 0;
uint16_t m_leftRumble = 0;
uint16_t m_rightRumble = 0;
};
} // namespace frc

39
wpilibc/sim/include/Joystick.h → wpilibc/shared/include/Joystick.h
View File

@@ -7,10 +7,13 @@
#pragma once
#include <stdint.h>
#include <memory>
#include <vector>
#include "ErrorBase.h"
#include "GenericHID.h"
#include "JoystickBase.h"
namespace frc {
@@ -18,19 +21,19 @@ 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.
* buttons depends on the code in the Driver Station.
*/
class Joystick : public GenericHID, public ErrorBase {
class Joystick : public JoystickBase, public ErrorBase {
public:
static const int kDefaultXAxis = 1;
static const int kDefaultYAxis = 2;
static const int kDefaultZAxis = 3;
static const int kDefaultTwistAxis = 4;
static const int kDefaultXAxis = 0;
static const int kDefaultYAxis = 1;
static const int kDefaultZAxis = 2;
static const int kDefaultTwistAxis = 2;
static const int kDefaultThrottleAxis = 3;
typedef enum {
kXAxis,
kYAxis,
@@ -39,8 +42,10 @@ class Joystick : public GenericHID, public ErrorBase {
kThrottleAxis,
kNumAxisTypes
} AxisType;
static const int kDefaultTriggerButton = 1;
static const int kDefaultTopButton = 2;
typedef enum { kTriggerButton, kTopButton, kNumButtonTypes } ButtonType;
explicit Joystick(int port);
@@ -50,22 +55,18 @@ class Joystick : public GenericHID, public ErrorBase {
Joystick(const Joystick&) = delete;
Joystick& operator=(const Joystick&) = delete;
int GetAxisChannel(AxisType axis);
int GetAxisChannel(AxisType axis) const;
void SetAxisChannel(AxisType axis, int channel);
float GetX(JoystickHand hand = kRightHand) const override;
float GetY(JoystickHand hand = kRightHand) const override;
float GetZ() const override;
float GetZ(JoystickHand hand = kRightHand) const override;
float GetTwist() const override;
float GetThrottle() const override;
virtual float GetAxis(AxisType axis) const;
float GetRawAxis(int axis) const override;
bool GetTrigger(JoystickHand hand = kRightHand) const override;
bool GetTop(JoystickHand hand = kRightHand) const override;
bool GetBumper(JoystickHand hand = kRightHand) const override;
bool GetRawButton(int button) const override;
int GetPOV(int pov = 1) const override;
bool GetButton(ButtonType button) const;
static Joystick* GetStickForPort(int port);
@@ -73,11 +74,15 @@ class Joystick : public GenericHID, public ErrorBase {
virtual float GetDirectionRadians() const;
virtual float GetDirectionDegrees() const;
int GetAxisType(int axis) const;
int GetAxisCount() const;
int GetButtonCount() const;
private:
DriverStation& m_ds;
int m_port;
std::unique_ptr<int[]> m_axes;
std::unique_ptr<int[]> m_buttons;
std::vector<int> m_axes;
std::vector<int> m_buttons;
};
} // namespace frc

30
wpilibc/shared/include/JoystickBase.h Normal file
View File

@@ -0,0 +1,30 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) FIRST 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. */
/*----------------------------------------------------------------------------*/
#pragma once
#include "GenericHID.h"
namespace frc {
/**
* Joystick Interface.
*/
class JoystickBase : public GenericHID {
public:
explicit JoystickBase(int port);
virtual ~JoystickBase() = default;
virtual float GetZ(JoystickHand hand = kRightHand) const = 0;
virtual float GetTwist() const = 0;
virtual float GetThrottle() const = 0;
virtual bool GetTrigger(JoystickHand hand = kRightHand) const = 0;
virtual bool GetTop(JoystickHand hand = kRightHand) const = 0;
};
} // namespace frc

53
wpilibc/shared/include/XboxController.h Normal file
View File

@@ -0,0 +1,53 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) FIRST 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. */
/*----------------------------------------------------------------------------*/
#pragma once
#include "ErrorBase.h"
#include "GamepadBase.h"
namespace frc {
class DriverStation;
/**
* Handle input from Xbox 360 or Xbox One controllers connected to the Driver
* Station.
*
* This class handles Xbox input that comes from the Driver Station. Each time a
* value is requested the most recent value is returend. There is a single class
* instance for each controller and the mapping of ports to hardware buttons
* depends on the code in the Driver Station.
*/
class XboxController : public GamepadBase, public ErrorBase {
public:
explicit XboxController(int port);
virtual ~XboxController() = default;
XboxController(const XboxController&) = delete;
XboxController& operator=(const XboxController&) = delete;
float GetX(JoystickHand hand) const override;
float GetY(JoystickHand hand) const override;
bool GetBumper(JoystickHand hand) const override;
bool GetStickButton(JoystickHand hand) const override;
virtual float GetTriggerAxis(JoystickHand hand) const;
bool GetAButton() const;
bool GetBButton() const;
bool GetXButton() const;
bool GetYButton() const;
bool GetBackButton() const;
bool GetStartButton() const;
private:
DriverStation& m_ds;
};
} // namespace frc

12
wpilibc/shared/src/GamepadBase.cpp Normal file
View File

@@ -0,0 +1,12 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) FIRST 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. */
/*----------------------------------------------------------------------------*/
#include "GamepadBase.h"
using namespace frc;
GamepadBase::GamepadBase(int port) : GenericHID(port) {}

12
wpilibc/shared/src/JoystickBase.cpp Normal file
View File

@@ -0,0 +1,12 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) FIRST 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. */
/*----------------------------------------------------------------------------*/
#include "JoystickBase.h"
using namespace frc;
JoystickBase::JoystickBase(int port) : GenericHID(port) {}

1
wpilibc/sim/include/WPILib.h
View File

@@ -50,4 +50,5 @@
#include "SpeedController.h"
#include "Talon.h"
#include "Victor.h"
#include "XboxController.h"
#include "interfaces/Potentiometer.h"

118
wpilibc/sim/src/GenericHID.cpp Normal file
View File

@@ -0,0 +1,118 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) FIRST 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. */
/*----------------------------------------------------------------------------*/
#include "GenericHID.h"
#include "DriverStation.h"
using namespace frc;
GenericHID::GenericHID(int port) : m_ds(DriverStation::GetInstance()) {
m_port = port;
}
/**
* Get the value of the axis.
*
* @param axis The axis to read, starting at 0.
* @return The value of the axis.
*/
float GenericHID::GetRawAxis(int axis) const {
return m_ds.GetStickAxis(m_port, axis);
}
/**
* Get the button value (starting at button 1)
*
* The buttons are returned in a single 16 bit value with one bit representing
* the state of each button. The appropriate button is returned as a boolean
* value.
*
* @param button The button number to be read (starting at 1)
* @return The state of the button.
**/
bool GenericHID::GetRawButton(int button) const {
return m_ds.GetStickButton(m_port, button);
}
/**
* Get the angle in degrees of a POV on the HID.
*
* The POV angles start at 0 in the up direction, and increase clockwise
* (e.g. right is 90, upper-left is 315).
*
* @param pov The index of the POV to read (starting at 0)
* @return the angle of the POV in degrees, or -1 if the POV is not pressed.
*/
int GenericHID::GetPOV(int pov) const { return 0; }
/**
* Get the number of POVs for the HID.
*
* @return the number of POVs for the current HID
*/
int GenericHID::GetPOVCount() const { return 0; }
/**
* Get the port number of the HID.
*
* @return The port number of the HID.
*/
int GenericHID::GetPort() const { return m_port; }
/**
* Get the type of the HID.
*
* @return the type of the HID.
*/
GenericHID::HIDType GenericHID::GetType() const { return HIDType::kUnknown; }
/**
* Get the name of the HID.
*
* @return the name of the HID.
*/
std::string GenericHID::GetName() const { return ""; }
/**
* Set a single HID output value for the HID.
*
* @param outputNumber The index of the output to set (1-32)
* @param value The value to set the output to
*/
void GenericHID::SetOutput(int outputNumber, bool value) {
m_outputs =
(m_outputs & ~(1 << (outputNumber - 1))) | (value << (outputNumber - 1));
}
/**
* Set all output values for the HID.
*
* @param value The 32 bit output value (1 bit for each output)
*/
void GenericHID::SetOutputs(int value) { m_outputs = value; }
/**
* Set the rumble output for the HID.
*
* The DS currently supports 2 rumble values, left rumble and right rumble.
*
* @param type Which rumble value to set
* @param value The normalized value (0 to 1) to set the rumble to
*/
void GenericHID::SetRumble(RumbleType type, double value) {
if (value < 0)
value = 0;
else if (value > 1)
value = 1;
if (type == kLeftRumble) {
m_leftRumble = value * 65535;
} else {
m_rightRumble = value * 65535;
}
}

113
wpilibc/sim/src/Joystick.cpp
View File

@@ -8,7 +8,6 @@
#include "Joystick.h"
#include <cmath>
#include <memory>
#include "DriverStation.h"
#include "WPIErrors.h"
@@ -28,9 +27,10 @@ static bool joySticksInitialized = false;
/**
* Construct an instance of a joystick.
*
* The joystick index is the usb port on the drivers station.
* The joystick index is the USB port on the Driver Station.
*
* @param port The port on the driver station that the joystick is plugged into.
* @param port The port on the Driver Station that the joystick is plugged into
* (0-5).
*/
Joystick::Joystick(int port) : Joystick(port, kNumAxisTypes, kNumButtonTypes) {
m_axes[kXAxis] = kDefaultXAxis;
@@ -49,22 +49,25 @@ Joystick::Joystick(int port) : Joystick(port, kNumAxisTypes, kNumButtonTypes) {
* This constructor allows the subclass to configure the number of constants
* for axes and buttons.
*
* @param port The port on the driver station that the joystick is
* @param port The port on the Driver Station that the joystick is
* plugged into.
* @param numAxisTypes The number of axis types in the enum.
* @param numButtonTypes The number of button types in the enum.
*/
Joystick::Joystick(int port, int numAxisTypes, int numButtonTypes)
: m_port(port), m_ds(DriverStation::GetInstance()) {
: JoystickBase(port),
m_ds(DriverStation::GetInstance()),
m_axes(numAxisTypes),
m_buttons(numButtonTypes) {
if (!joySticksInitialized) {
for (int i = 0; i < DriverStation::kJoystickPorts; i++)
joysticks[i] = nullptr;
for (auto& joystick : joysticks) joystick = nullptr;
joySticksInitialized = true;
}
joysticks[m_port] = this;
m_axes = std::make_unique<int[]>(numAxisTypes);
m_buttons = std::make_unique<int[]>(numButtonTypes);
if (GetPort() >= DriverStation::kJoystickPorts) {
wpi_setWPIError(BadJoystickIndex);
} else {
joysticks[GetPort()] = this;
}
}
Joystick* Joystick::GetStickForPort(int port) {
@@ -80,6 +83,9 @@ Joystick* Joystick::GetStickForPort(int port) {
* Get the X value of the joystick.
*
* This depends on the mapping of the joystick connected to the current port.
*
* @param hand This parameter is ignored for the Joystick class and is only
* here to complete the GenericHID interface.
*/
float Joystick::GetX(JoystickHand hand) const {
return GetRawAxis(m_axes[kXAxis]);
@@ -89,6 +95,9 @@ float Joystick::GetX(JoystickHand hand) const {
* Get the Y value of the joystick.
*
* This depends on the mapping of the joystick connected to the current port.
*
* @param hand This parameter is ignored for the Joystick class and is only
* here to complete the GenericHID interface.
*/
float Joystick::GetY(JoystickHand hand) const {
return GetRawAxis(m_axes[kYAxis]);
@@ -99,7 +108,9 @@ float Joystick::GetY(JoystickHand hand) const {
*
* This depends on the mapping of the joystick connected to the current port.
*/
float Joystick::GetZ() const { return GetRawAxis(m_axes[kZAxis]); }
float Joystick::GetZ(JoystickHand hand) const {
return GetRawAxis(m_axes[kZAxis]);
}
/**
* Get the twist value of the current joystick.
@@ -117,16 +128,6 @@ float Joystick::GetThrottle() const {
return GetRawAxis(m_axes[kThrottleAxis]);
}
/**
* Get the value of the axis.
*
* @param axis The axis to read [1-6].
* @return The value of the axis.
*/
float Joystick::GetRawAxis(int axis) const {
return m_ds.GetStickAxis(m_port, axis);
}
/**
* For the current joystick, return the axis determined by the argument.
*
@@ -160,8 +161,8 @@ float Joystick::GetAxis(AxisType axis) const {
*
* Look up which button has been assigned to the trigger and read its state.
*
* @param hand This parameter is ignored for the Joystick class and is only here
* to complete the GenericHID interface.
* @param hand This parameter is ignored for the Joystick class and is only
* here to complete the GenericHID interface.
* @return The state of the trigger.
*/
bool Joystick::GetTrigger(JoystickHand hand) const {
@@ -173,47 +174,14 @@ bool Joystick::GetTrigger(JoystickHand hand) const {
*
* Look up which button has been assigned to the top and read its state.
*
* @param hand This parameter is ignored for the Joystick class and is only here
* to complete the GenericHID interface.
* @param hand This parameter is ignored for the Joystick class and is only
* here to complete the GenericHID interface.
* @return The state of the top button.
*/
bool Joystick::GetTop(JoystickHand hand) const {
return GetRawButton(m_buttons[kTopButton]);
}
/**
* This is not supported for the Joystick.
*
* This method is only here to complete the GenericHID interface.
*/
bool Joystick::GetBumper(JoystickHand hand) const {
// Joysticks don't have bumpers.
return false;
}
/**
* Get the button value for buttons 1 through 12.
*
* The buttons are returned in a single 16 bit value with one bit representing
* the state of each button. The appropriate button is returned as a boolean
* value.
*
* @param button The button number to be read.
* @return The state of the button.
*/
bool Joystick::GetRawButton(int button) const {
return m_ds.GetStickButton(m_port, button);
}
/**
* Get the state of a POV on the joystick.
*
* @return the angle of the POV in degrees, or -1 if the POV is not pressed.
*/
int Joystick::GetPOV(int pov) const {
return 0; // TODO
}
/**
* Get buttons based on an enumerated type.
*
@@ -233,18 +201,39 @@ bool Joystick::GetButton(ButtonType button) const {
}
}
/**
* Get the number of axis for a joystick
*
* @return the number of axis for the current joystick
*/
int Joystick::GetAxisCount() const { return 0; }
/**
* Get the axis type of a joystick axis.
*
* @return the axis type of a joystick axis.
*/
int Joystick::GetAxisType(int axis) const { return 0; }
/**
* Get the number of buttons for a joystick.
*
* @return the number of buttons on the current joystick
*/
int Joystick::GetButtonCount() const { return 0; }
/**
* Get the channel currently associated with the specified axis.
*
* @param axis The axis to look up the channel for.
* @return The channel fr the axis.
*/
int Joystick::GetAxisChannel(AxisType axis) { return m_axes[axis]; }
int Joystick::GetAxisChannel(AxisType axis) const { return m_axes[axis]; }
/**
* Set the channel associated with a specified axis.
*
* @param axis The axis to set the channel for.
* @param axis The axis to set the channel for.
* @param channel The channel to set the axis to.
*/
void Joystick::SetAxisChannel(AxisType axis, int channel) {
@@ -275,7 +264,7 @@ float Joystick::GetDirectionRadians() const {
* Get the direction of the vector formed by the joystick and its origin
* in degrees.
*
* uses std::acos(-1) to represent Pi due to absence of readily accessable PI
* uses std::acos(-1) to represent Pi due to absence of readily accessible Pi
* constant in C++
*
* @return The direction of the vector in degrees

137
wpilibc/sim/src/XboxController.cpp Normal file
View File

@@ -0,0 +1,137 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) FIRST 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. */
/*----------------------------------------------------------------------------*/
#include "XboxController.h"
#include "DriverStation.h"
using namespace frc;
/**
* Construct an instance of an Xbox controller.
*
* The joystick index is the USB port on the Driver Station.
*
* @param port The port on the Driver Station that the joystick is plugged into
* (0-5).
*/
XboxController::XboxController(int port)
: GamepadBase(port), m_ds(DriverStation::GetInstance()) {}
/**
* Get the X axis value of the controller.
*
* @param hand Side of controller whose value should be returned.
*/
float XboxController::GetX(JoystickHand hand) const {
if (hand == kLeftHand) {
return GetRawAxis(0);
} else {
return GetRawAxis(4);
}
}
/**
* Get the Y axis value of the controller.
*
* @param hand Side of controller whose value should be returned.
*/
float XboxController::GetY(JoystickHand hand) const {
if (hand == kLeftHand) {
return GetRawAxis(1);
} else {
return GetRawAxis(5);
}
}
/**
* Read the value of the bumper button on the controller.
*
* @param hand Side of controller whose value should be returned.
*/
bool XboxController::GetBumper(JoystickHand hand) const {
if (hand == kLeftHand) {
return GetRawButton(5);
} else {
return GetRawButton(6);
}
}
/**
* Read the value of the stick button on the controller.
*
* @param hand Side of controller whose value should be returned.
* @return The state of the button.
*/
bool XboxController::GetStickButton(JoystickHand hand) const {
if (hand == kLeftHand) {
return GetRawButton(9);
} else {
return GetRawButton(10);
}
}
/**
* Get the trigger axis value of the controller.
*
* @param hand Side of controller whose value should be returned.
*/
float XboxController::GetTriggerAxis(JoystickHand hand) const {
if (hand == kLeftHand) {
return GetRawAxis(2);
} else {
return GetRawAxis(3);
}
}
/**
* Read the value of the A button on the controller.
*
* @param hand Side of controller whose value should be returned.
* @return The state of the button.
*/
bool XboxController::GetAButton() const { return GetRawButton(1); }
/**
* Read the value of the B button on the controller.
*
* @param hand Side of controller whose value should be returned.
* @return The state of the button.
*/
bool XboxController::GetBButton() const { return GetRawButton(2); }
/**
* Read the value of the X button on the controller.
*
* @param hand Side of controller whose value should be returned.
* @return The state of the button.
*/
bool XboxController::GetXButton() const { return GetRawButton(3); }
/**
* Read the value of the Y button on the controller.
*
* @param hand Side of controller whose value should be returned.
* @return The state of the button.
*/
bool XboxController::GetYButton() const { return GetRawButton(4); }
/**
* Read the value of the back button on the controller.
*
* @param hand Side of controller whose value should be returned.
* @return The state of the button.
*/
bool XboxController::GetBackButton() const { return GetRawButton(7); }
/**
* Read the value of the start button on the controller.
*
* @param hand Side of controller whose value should be returned.
* @return The state of the button.
*/
bool XboxController::GetStartButton() const { return GetRawButton(8); }

168
wpilibj/src/athena/java/edu/wpi/first/wpilibj/Joystick.java
View File

@@ -9,15 +9,14 @@ package edu.wpi.first.wpilibj;
import edu.wpi.first.wpilibj.hal.FRCNetComm.tResourceType;
import edu.wpi.first.wpilibj.hal.HAL;
import edu.wpi.first.wpilibj.hal.HAL;
/**
* 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.
* buttons depends on the code in the Driver Station.
*/
public class Joystick extends GenericHID {
public class Joystick extends JoystickBase {
static final byte kDefaultXAxis = 0;
static final byte kDefaultYAxis = 1;
@@ -55,16 +54,7 @@ public class Joystick extends GenericHID {
}
}
/**
* Represents a rumble output on the JoyStick.
*/
public enum RumbleType {
kLeftRumble, kRightRumble
}
private final DriverStation m_ds;
private final int m_port;
private final byte[] m_axes;
private final byte[] m_buttons;
private int m_outputs;
@@ -72,10 +62,10 @@ public class Joystick extends GenericHID {
private short m_rightRumble;
/**
* Construct an instance of a joystick. The joystick index is the usb port on the drivers
* Construct an instance of a joystick. The joystick index is the USB port on the drivers
* station.
*
* @param port The port on the driver station that the joystick is plugged into.
* @param port The port on the Driver Station that the joystick is plugged into.
*/
public Joystick(final int port) {
this(port, AxisType.kNumAxis.value, ButtonType.kNumButton.value);
@@ -98,15 +88,16 @@ public class Joystick extends GenericHID {
* <p>This constructor allows the subclass to configure the number of constants for axes and
* buttons.
*
* @param port The port on the driver station that the joystick is plugged into.
* @param port The port on the Driver Station that the joystick is plugged into.
* @param numAxisTypes The number of axis types in the enum.
* @param numButtonTypes The number of button types in the enum.
*/
protected Joystick(int port, int numAxisTypes, int numButtonTypes) {
super(port);
m_ds = DriverStation.getInstance();
m_axes = new byte[numAxisTypes];
m_buttons = new byte[numButtonTypes];
m_port = port;
}
/**
@@ -116,7 +107,8 @@ public class Joystick extends GenericHID {
* @param hand Unused
* @return The X value of the joystick.
*/
public double getX(Hand hand) {
@Override
public final double getX(Hand hand) {
return getRawAxis(m_axes[AxisType.kX.value]);
}
@@ -127,18 +119,13 @@ public class Joystick extends GenericHID {
* @param hand Unused
* @return The Y value of the joystick.
*/
public double getY(Hand hand) {
@Override
public final double getY(Hand hand) {
return getRawAxis(m_axes[AxisType.kY.value]);
}
/**
* Get the Z value of the joystick. This depends on the mapping of the joystick connected to the
* current port.
*
* @param hand Unused
* @return The Z value of the joystick.
*/
public double getZ(Hand hand) {
@Override
public final double getZ(Hand hand) {
return getRawAxis(m_axes[AxisType.kZ.value]);
}
@@ -169,7 +156,7 @@ public class Joystick extends GenericHID {
* @return The value of the axis.
*/
public double getRawAxis(final int axis) {
return m_ds.getStickAxis(m_port, axis);
return m_ds.getStickAxis(getPort(), axis);
}
/**
@@ -202,7 +189,7 @@ public class Joystick extends GenericHID {
* For the current joystick, return the number of axis.
*/
public int getAxisCount() {
return m_ds.getStickAxisCount(m_port);
return m_ds.getStickAxisCount(getPort());
}
/**
@@ -231,6 +218,16 @@ public class Joystick extends GenericHID {
return getRawButton(m_buttons[ButtonType.kTop.value]);
}
@Override
public int getPOV(int pov) {
return m_ds.getStickPOV(getPort(), pov);
}
@Override
public int getPOVCount() {
return m_ds.getStickPOVCount(getPort());
}
/**
* This is not supported for the Joystick. This method is only here to complete the GenericHID
* interface.
@@ -252,34 +249,14 @@ public class Joystick extends GenericHID {
* @return The state of the button.
*/
public boolean getRawButton(final int button) {
return m_ds.getStickButton(m_port, (byte) button);
return m_ds.getStickButton(getPort(), (byte) button);
}
/**
* For the current joystick, return the number of buttons.
*/
public int getButtonCount() {
return m_ds.getStickButtonCount(m_port);
}
/**
* Get the angle in degrees of a POV on the joystick.
*
* <p>The POV angles start at 0 in the up direction, and increase clockwise (eg right is 90,
* upper-left is 315).
*
* @param pov The index of the POV to read (starting at 0)
* @return the angle of the POV in degrees, or -1 if the POV is not pressed.
*/
public int getPOV(int pov) {
return m_ds.getStickPOV(m_port, pov);
}
/**
* For the current joystick, return the number of POVs.
*/
public int getPOVCount() {
return m_ds.getStickPOVCount(m_port);
return m_ds.getStickButtonCount(getPort());
}
/**
@@ -357,34 +334,7 @@ public class Joystick extends GenericHID {
* @return A boolean that is true if the controller is an xbox controller.
*/
public boolean getIsXbox() {
return m_ds.getJoystickIsXbox(m_port);
}
/**
* Get the HID type of the current joystick.
*
* @return The HID type value of the current joystick.
*/
public int getType() {
return m_ds.getJoystickType(m_port);
}
/**
* Get the name of the current joystick.
*
* @return The name of the current joystick.
*/
public String getName() {
return m_ds.getJoystickName(m_port);
}
/**
* Get the port number of the joystick.
*
* @return The port number of the joystick.
*/
public int getPort() {
return m_port;
return m_ds.getJoystickIsXbox(getPort());
}
/**
@@ -393,17 +343,43 @@ public class Joystick extends GenericHID {
* @return the axis type of a joystick axis.
*/
public int getAxisType(int axis) {
return m_ds.getJoystickAxisType(m_port, axis);
return m_ds.getJoystickAxisType(getPort(), axis);
}
/**
* Set the rumble output for the joystick. The DS currently supports 2 rumble values, left rumble
* and right rumble.
* Get the type of the HID.
*
* @param type Which rumble value to set
* @param value The normalized value (0 to 1) to set the rumble to
* @return the type of the HID.
*/
public void setRumble(RumbleType type, float value) {
@Override
public HIDType getType() {
return HIDType.values()[m_ds.getJoystickType(getPort())];
}
/**
* Get the name of the HID.
*
* @return the name of the HID.
*/
@Override
public String getName() {
return m_ds.getJoystickName(getPort());
}
@Override
public void setOutput(int outputNumber, boolean value) {
m_outputs = (m_outputs & ~(1 << (outputNumber - 1))) | ((value ? 1 : 0) << (outputNumber - 1));
HAL.setJoystickOutputs((byte) getPort(), m_outputs, m_leftRumble, m_rightRumble);
}
@Override
public void setOutputs(int value) {
m_outputs = value;
HAL.setJoystickOutputs((byte) getPort(), m_outputs, m_leftRumble, m_rightRumble);
}
@Override
public void setRumble(RumbleType type, double value) {
if (value < 0) {
value = 0;
} else if (value > 1) {
@@ -414,28 +390,6 @@ public class Joystick extends GenericHID {
} else {
m_rightRumble = (short) (value * 65535);
}
HAL.setJoystickOutputs((byte) m_port, m_outputs, m_leftRumble, m_rightRumble);
}
/**
* Set a single HID output value for the joystick.
*
* @param outputNumber The index of the output to set (1-32)
* @param value The value to set the output to
*/
public void setOutput(int outputNumber, boolean value) {
m_outputs = (m_outputs & ~(1 << (outputNumber - 1))) | ((value ? 1 : 0) << (outputNumber - 1));
HAL.setJoystickOutputs((byte) m_port, m_outputs, m_leftRumble, m_rightRumble);
}
/**
* Set all HID output values for the joystick.
*
* @param value The 32 bit output value (1 bit for each output)
*/
public void setOutputs(int value) {
m_outputs = value;
HAL.setJoystickOutputs((byte) m_port, m_outputs, m_leftRumble, m_rightRumble);
HAL.setJoystickOutputs((byte) getPort(), m_outputs, m_leftRumble, m_rightRumble);
}
}

260
wpilibj/src/athena/java/edu/wpi/first/wpilibj/XboxController.java Normal file
View File

@@ -0,0 +1,260 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) FIRST 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. */
/*----------------------------------------------------------------------------*/
package edu.wpi.first.wpilibj;
import edu.wpi.first.wpilibj.hal.FRCNetComm.tResourceType;
import edu.wpi.first.wpilibj.hal.HAL;
/**
* Handle input from Xbox 360 or Xbox One controllers connected to the Driver Station.
*
* <p>This class handles Xbox input that comes from the Driver Station. Each time a value is
* requested the most recent value is returend. There is a single class instance for each controller
* and the mapping of ports to hardware buttons depends on the code in the Driver Station.
*/
public class XboxController extends GamepadBase {
private DriverStation m_ds;
private int m_outputs;
private short m_leftRumble;
private short m_rightRumble;
/**
* Construct an instance of a joystick. The joystick index is the USB port on the drivers
* station.
*
* @param port The port on the Driver Station that the joystick is plugged into.
*/
public XboxController(final int port) {
super(port);
m_ds = DriverStation.getInstance();
// HAL.report(tResourceType.kResourceType_XboxController, port);
HAL.report(tResourceType.kResourceType_Joystick, port);
}
/**
* Get the X axis value of the controller.
*
* @param hand Side of controller whose value should be returned.
* @return The X axis value of the controller.
*/
@Override
public double getX(Hand hand) {
if (hand.equals(Hand.kLeft)) {
return getRawAxis(0);
} else {
return getRawAxis(4);
}
}
/**
* Get the Y axis value of the controller.
*
* @param hand Side of controller whose value should be returned.
* @return The Y axis value of the controller.
*/
@Override
public double getY(Hand hand) {
if (hand.equals(Hand.kLeft)) {
return getRawAxis(1);
} else {
return getRawAxis(5);
}
}
/**
* Get the value of the axis.
*
* @param axis The axis to read, starting at 0.
* @return The value of the axis.
*/
public double getRawAxis(final int axis) {
return m_ds.getStickAxis(getPort(), axis);
}
/**
* Read the value of the bumper button on the controller.
*
* @param hand Side of controller whose value should be returned.
* @return The state of the button.
*/
@Override
public boolean getBumper(Hand hand) {
if (hand.equals(Hand.kLeft)) {
return getRawButton(5);
} else {
return getRawButton(6);
}
}
/**
* This is not supported for the XboxController. This method is only here to complete the
* GenericHID interface.
*
* @param hand This parameter is ignored for the Joystick class and is only here to complete the
* GenericHID interface.
* @return The state of the trigger (always false)
*/
public boolean getTrigger(Hand hand) {
return false;
}
/**
* This is not supported for the XboxController. This method is only here to complete the
* GenericHID interface.
*
* @param hand This parameter is ignored for the Joystick class and is only here to complete the
* GenericHID interface.
* @return The state of the top button (always false)
*/
public boolean getTop(Hand hand) {
return false;
}
/**
* Get the button value (starting at button 1).
*
* <p>The appropriate button is returned as a boolean value.
*
* @param button The button number to be read (starting at 1).
* @return The state of the button.
*/
public boolean getRawButton(final int button) {
return m_ds.getStickButton(getPort(), (byte) button);
}
/**
* Get the trigger axis value of the controller.
*
* @param hand Side of controller whose value should be returned.
* @return The trigger axis value of the controller.
*/
public double getTriggerAxis(Hand hand) {
if (hand.equals(Hand.kLeft)) {
return getRawAxis(2);
} else {
return getRawAxis(3);
}
}
/**
* Read the value of the A button on the controller.
*
* @return The state of the button.
*/
public boolean getAButton() {
return getRawButton(1);
}
/**
* Read the value of the B button on the controller.
*
* @return The state of the button.
*/
public boolean getBButton() {
return getRawButton(2);
}
/**
* Read the value of the X button on the controller.
*
* @return The state of the button.
*/
public boolean getXButton() {
return getRawButton(3);
}
/**
* Read the value of the Y button on the controller.
*
* @return The state of the button.
*/
public boolean getYButton() {
return getRawButton(4);
}
/**
* Read the value of the stick button on the controller.
*
* @param hand Side of controller whose value should be returned.
* @return The state of the button.
*/
@Override
public boolean getStickButton(Hand hand) {
if (hand.equals(Hand.kLeft)) {
return getRawButton(9);
} else {
return getRawButton(10);
}
}
/**
* Read the value of the back button on the controller.
*
* @return The state of the button.
*/
public boolean getBackButton() {
return getRawButton(7);
}
/**
* Read the value of the start button on the controller.
*
* @return The state of the button.
*/
public boolean getStartButton() {
return getRawButton(8);
}
@Override
public int getPOV(int pov) {
return m_ds.getStickPOV(getPort(), pov);
}
@Override
public int getPOVCount() {
return m_ds.getStickPOVCount(getPort());
}
@Override
public HIDType getType() {
return HIDType.values()[m_ds.getJoystickType(getPort())];
}
@Override
public String getName() {
return m_ds.getJoystickName(getPort());
}
@Override
public void setOutput(int outputNumber, boolean value) {
m_outputs = (m_outputs & ~(1 << (outputNumber - 1))) | ((value ? 1 : 0) << (outputNumber - 1));
HAL.setJoystickOutputs((byte) getPort(), m_outputs, m_leftRumble, m_rightRumble);
}
@Override
public void setOutputs(int value) {
m_outputs = value;
HAL.setJoystickOutputs((byte) getPort(), m_outputs, m_leftRumble, m_rightRumble);
}
@Override
public void setRumble(RumbleType type, double value) {
if (value < 0) {
value = 0;
} else if (value > 1) {
value = 1;
}
if (type == RumbleType.kLeftRumble) {
m_leftRumble = (short) (value * 65535);
} else {
m_rightRumble = (short) (value * 65535);
}
HAL.setJoystickOutputs((byte) getPort(), m_outputs, m_leftRumble, m_rightRumble);
}
}

58
wpilibj/src/shared/java/edu/wpi/first/wpilibj/GamepadBase.java Normal file
View File

@@ -0,0 +1,58 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) FIRST 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. */
/*----------------------------------------------------------------------------*/
package edu.wpi.first.wpilibj;
/**
* Gamepad Interface.
*/
public abstract class GamepadBase extends GenericHID {
public GamepadBase(int port) {
super(port);
}
public abstract double getRawAxis(int axis);
/**
* Is the bumper pressed.
*
* @param hand which hand
* @return true if the bumper is pressed
*/
public abstract boolean getBumper(Hand hand);
/**
* Is the bumper pressed.
*
* @return true if the bumper is pressed
*/
public boolean getBumper() {
return getBumper(Hand.kRight);
}
public abstract boolean getStickButton(Hand hand);
public boolean getStickButton() {
return getStickButton(Hand.kRight);
}
public abstract boolean getRawButton(int button);
public abstract int getPOV(int pov);
public abstract int getPOVCount();
public abstract HIDType getType();
public abstract String getName();
public abstract void setOutput(int outputNumber, boolean value);
public abstract void setOutputs(int value);
public abstract void setRumble(RumbleType type, double value);
}

183
wpilibj/src/shared/java/edu/wpi/first/wpilibj/GenericHID.java
View File

@@ -11,6 +11,40 @@ package edu.wpi.first.wpilibj;
* GenericHID Interface.
*/
public abstract class GenericHID {
/**
* Represents a rumble output on the JoyStick.
*/
public enum RumbleType {
kLeftRumble, kRightRumble
}
public enum HIDType {
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);
@SuppressWarnings("MemberName")
public final int value;
private HIDType(int value) {
this.value = value;
}
}
/**
* Which hand the Human Interface Device is associated with.
*/
@@ -25,6 +59,12 @@ public abstract class GenericHID {
}
}
private final int m_port;
public GenericHID(int port) {
m_port = port;
}
/**
* Get the x position of the HID.
*
@@ -59,37 +99,6 @@ public abstract class GenericHID {
*/
public abstract double getY(Hand hand);
/**
* Get the z position of the HID.
*
* @return the z position
*/
public final double getZ() {
return getZ(Hand.kRight);
}
/**
* Get the z position of the HID.
*
* @param hand which hand, left or right
* @return the z position
*/
public abstract double getZ(Hand hand);
/**
* Get the twist value.
*
* @return the twist value
*/
public abstract double getTwist();
/**
* Get the throttle.
*
* @return the throttle value
*/
public abstract double getThrottle();
/**
* Get the raw axis.
*
@@ -98,57 +107,6 @@ public abstract class GenericHID {
*/
public abstract double getRawAxis(int which);
/**
* Is the trigger pressed.
*
* @return true if pressed
*/
public final boolean getTrigger() {
return getTrigger(Hand.kRight);
}
/**
* Is the trigger pressed.
*
* @param hand which hand
* @return true if the trigger for the given hand is pressed
*/
public abstract boolean getTrigger(Hand hand);
/**
* Is the top button pressed.
*
* @return true if the top button is pressed
*/
public final boolean getTop() {
return getTop(Hand.kRight);
}
/**
* Is the top button pressed.
*
* @param hand which hand
* @return true if hte top button for the given hand is pressed
*/
public abstract boolean getTop(Hand hand);
/**
* Is the bumper pressed.
*
* @return true if the bumper is pressed
*/
public final boolean getBumper() {
return getBumper(Hand.kRight);
}
/**
* Is the bumper pressed.
*
* @param hand which hand
* @return true if hte bumper is pressed
*/
public abstract boolean getBumper(Hand hand);
/**
* Is the given button pressed.
*
@@ -157,9 +115,70 @@ public abstract class GenericHID {
*/
public abstract boolean getRawButton(int button);
/**
* Get the angle in degrees of a POV on the HID.
*
* <p>The POV angles start at 0 in the up direction, and increase clockwise (eg right is 90,
* upper-left is 315).
*
* @param pov The index of the POV to read (starting at 0)
* @return the angle of the POV in degrees, or -1 if the POV is not pressed.
*/
public abstract int getPOV(int pov);
public int getPOV() {
return getPOV(0);
}
/**
* For the current HID, return the number of POVs.
*/
public abstract int getPOVCount();
/**
* Get the port number of the HID.
*
* @return The port number of the HID.
*/
public int getPort() {
return m_port;
}
/**
* Get the type of the HID.
*
* @return the type of the HID.
*/
public abstract HIDType getType();
/**
* Get the name of the HID.
*
* @return the name of the HID.
*/
public abstract String getName();
/**
* Set a single HID output value for the HID.
*
* @param outputNumber The index of the output to set (1-32)
* @param value The value to set the output to
*/
public abstract void setOutput(int outputNumber, boolean value);
/**
* Set all HID output values for the HID.
*
* @param value The 32 bit output value (1 bit for each output)
*/
public abstract void setOutputs(int value);
/**
* Set the rumble output for the HID. The DS currently supports 2 rumble values, left rumble and
* right rumble.
*
* @param type Which rumble value to set
* @param value The normalized value (0 to 1) to set the rumble to
*/
public abstract void setRumble(RumbleType type, double value);
}

91
wpilibj/src/shared/java/edu/wpi/first/wpilibj/JoystickBase.java Normal file
View File

@@ -0,0 +1,91 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) FIRST 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. */
/*----------------------------------------------------------------------------*/
package edu.wpi.first.wpilibj;
/**
* JoystickBase Interface.
*/
public abstract class JoystickBase extends GenericHID {
public JoystickBase(int port) {
super(port);
}
/**
* Get the z position of the HID.
*
* @param hand which hand, left or right
* @return the z position
*/
public abstract double getZ(Hand hand);
public double getZ() {
return getZ(Hand.kRight);
}
/**
* Get the twist value.
*
* @return the twist value
*/
public abstract double getTwist();
/**
* Get the throttle.
*
* @return the throttle value
*/
public abstract double getThrottle();
/**
* Is the trigger pressed.
*
* @return true if pressed
*/
public final boolean getTrigger() {
return getTrigger(Hand.kRight);
}
/**
* Is the trigger pressed.
*
* @param hand which hand
* @return true if the trigger for the given hand is pressed
*/
public abstract boolean getTrigger(Hand hand);
/**
* Is the top button pressed.
*
* @return true if the top button is pressed
*/
public final boolean getTop() {
return getTop(Hand.kRight);
}
/**
* Is the top button pressed.
*
* @param hand which hand
* @return true if hte top button for the given hand is pressed
*/
public abstract boolean getTop(Hand hand);
public abstract int getPOV(int pov);
public abstract int getPOVCount();
public abstract HIDType getType();
public abstract String getName();
public abstract void setOutput(int outputNumber, boolean value);
public abstract void setOutputs(int value);
public abstract void setRumble(RumbleType type, double value);
}

244
wpilibj/src/sim/java/edu/wpi/first/wpilibj/Joystick.java
View File

@@ -7,62 +7,30 @@
package edu.wpi.first.wpilibj;
/**
* 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.
* buttons depends on the code in the Driver Station.
*/
public class Joystick extends GenericHID {
public class Joystick extends JoystickBase {
static final byte kDefaultXAxis = 1;
static final byte kDefaultYAxis = 2;
static final byte kDefaultZAxis = 3;
static final byte kDefaultTwistAxis = 3;
static final byte kDefaultThrottleAxis = 4;
static final byte kDefaultXAxis = 0;
static final byte kDefaultYAxis = 1;
static final byte kDefaultZAxis = 2;
static final byte kDefaultTwistAxis = 2;
static final byte kDefaultThrottleAxis = 3;
static final int kDefaultTriggerButton = 1;
static final int kDefaultTopButton = 2;
/**
* Represents an analog axis on a joystick.
*/
public static class AxisType {
public enum AxisType {
kX(0), kY(1), kZ(2), kTwist(3), kThrottle(4), kNumAxis(5);
/**
* The integer value representing this enumeration
*/
@SuppressWarnings("MemberName")
public final int value;
static final int kX_val = 0;
static final int kY_val = 1;
static final int kZ_val = 2;
static final int kTwist_val = 3;
static final int kThrottle_val = 4;
static final int kNumAxis_val = 5;
/**
* axis: x-axis
*/
public static final AxisType kX = new AxisType(kX_val);
/**
* axis: y-axis
*/
public static final AxisType kY = new AxisType(kY_val);
/**
* axis: z-axis
*/
public static final AxisType kZ = new AxisType(kZ_val);
/**
* axis: twist
*/
public static final AxisType kTwist = new AxisType(kTwist_val);
/**
* axis: throttle
*/
public static final AxisType kThrottle = new AxisType(kThrottle_val);
/**
* axis: number of axis
*/
public static final AxisType kNumAxis = new AxisType(kNumAxis_val);
private AxisType(int value) {
this.value = value;
@@ -70,45 +38,31 @@ public class Joystick extends GenericHID {
}
/**
* Represents a digital button on the JoyStick
* Represents a digital button on the JoyStick.
*/
public static class ButtonType {
public enum ButtonType {
kTrigger(0), kTop(1), kNumButton(2);
/**
* The integer value representing this enumeration
*/
@SuppressWarnings("MemberName")
public final int value;
static final int kTrigger_val = 0;
static final int kTop_val = 1;
static final int kNumButton_val = 2;
/**
* button: trigger
*/
public static final ButtonType kTrigger = new ButtonType((kTrigger_val));
/**
* button: top button
*/
public static final ButtonType kTop = new ButtonType(kTop_val);
/**
* button: num button types
*/
public static final ButtonType kNumButton = new ButtonType((kNumButton_val));
private ButtonType(int value) {
this.value = value;
}
}
private DriverStation m_ds;
private final int m_port;
private final DriverStation m_ds;
private final byte[] m_axes;
private final byte[] m_buttons;
private int m_outputs;
private short m_leftRumble;
private short m_rightRumble;
/**
* Construct an instance of a joystick. The joystick index is the usb port on the drivers
* Construct an instance of a joystick. The joystick index is the USB port on the drivers
* station.
*
* @param port The port on the driver station that the joystick is plugged into.
* @param port The port on the Driver Station that the joystick is plugged into.
*/
public Joystick(final int port) {
this(port, AxisType.kNumAxis.value, ButtonType.kNumButton.value);
@@ -121,24 +75,24 @@ public class Joystick extends GenericHID {
m_buttons[ButtonType.kTrigger.value] = kDefaultTriggerButton;
m_buttons[ButtonType.kTop.value] = kDefaultTopButton;
}
/**
* Protected version of the constructor to be called by sub-classes.
*
* This constructor allows the subclass to configure the number of constants for axes and
* <p>This constructor allows the subclass to configure the number of constants for axes and
* buttons.
*
* @param port The port on the driver station that the joystick is plugged into.
* @param port The port on the Driver Station that the joystick is plugged into.
* @param numAxisTypes The number of axis types in the enum.
* @param numButtonTypes The number of button types in the enum.
*/
protected Joystick(int port, int numAxisTypes, int numButtonTypes) {
super(port);
m_ds = DriverStation.getInstance();
m_axes = new byte[numAxisTypes];
m_buttons = new byte[numButtonTypes];
m_port = port;
}
/**
@@ -148,7 +102,8 @@ public class Joystick extends GenericHID {
* @param hand Unused
* @return The X value of the joystick.
*/
public double getX(Hand hand) {
@Override
public final double getX(Hand hand) {
return getRawAxis(m_axes[AxisType.kX.value]);
}
@@ -159,18 +114,13 @@ public class Joystick extends GenericHID {
* @param hand Unused
* @return The Y value of the joystick.
*/
public double getY(Hand hand) {
@Override
public final double getY(Hand hand) {
return getRawAxis(m_axes[AxisType.kY.value]);
}
/**
* Get the Z value of the joystick. This depends on the mapping of the joystick connected to the
* current port.
*
* @param hand Unused
* @return The Z value of the joystick.
*/
public double getZ(Hand hand) {
@Override
public final double getZ(Hand hand) {
return getRawAxis(m_axes[AxisType.kZ.value]);
}
@@ -197,43 +147,50 @@ public class Joystick extends GenericHID {
/**
* Get the value of the axis.
*
* @param axis The axis to read [1-6].
* @param axis The axis to read, starting at 0.
* @return The value of the axis.
*/
public double getRawAxis(final int axis) {
return m_ds.getStickAxis(m_port, axis);
return m_ds.getStickAxis(getPort(), axis);
}
/**
* For the current joystick, return the axis determined by the argument.
*
* This is for cases where the joystick axis is returned programatically, otherwise one of the
* <p>This is for cases where the joystick axis is returned programatically, otherwise one of the
* previous functions would be preferable (for example getX()).
*
* @param axis The axis to read.
* @return The value of the axis.
*/
public double getAxis(final AxisType axis) {
switch (axis.value) {
case AxisType.kX_val:
switch (axis) {
case kX:
return getX();
case AxisType.kY_val:
case kY:
return getY();
case AxisType.kZ_val:
case kZ:
return getZ();
case AxisType.kTwist_val:
case kTwist:
return getTwist();
case AxisType.kThrottle_val:
case kThrottle:
return getThrottle();
default:
return 0.0;
}
}
/**
* For the current joystick, return the number of axis.
*/
public int getAxisCount() {
return 0;
}
/**
* Read the state of the trigger on the joystick.
*
* Look up which button has been assigned to the trigger and read its state.
* <p>Look up which button has been assigned to the trigger and read its state.
*
* @param hand This parameter is ignored for the Joystick class and is only here to complete the
* GenericHID interface.
@@ -246,7 +203,7 @@ public class Joystick extends GenericHID {
/**
* Read the state of the top button on the joystick.
*
* Look up which button has been assigned to the top and read its state.
* <p>Look up which button has been assigned to the top and read its state.
*
* @param hand This parameter is ignored for the Joystick class and is only here to complete the
* GenericHID interface.
@@ -256,6 +213,16 @@ public class Joystick extends GenericHID {
return getRawButton(m_buttons[ButtonType.kTop.value]);
}
@Override
public int getPOV(int pov) {
return 0;
}
@Override
public int getPOVCount() {
return 0;
}
/**
* This is not supported for the Joystick. This method is only here to complete the GenericHID
* interface.
@@ -269,40 +236,37 @@ public class Joystick extends GenericHID {
}
/**
* Get the button value for buttons 1 through 12.
* Get the button value (starting at button 1).
*
* The buttons are returned in a single 16 bit value with one bit representing the state of each
* button. The appropriate button is returned as a boolean value.
* <p>The appropriate button is returned as a boolean value.
*
* @param button The button number to be read.
* @param button The button number to be read (starting at 1).
* @return The state of the button.
*/
public boolean getRawButton(final int button) {
return m_ds.getStickButton(m_port, button);
return m_ds.getStickButton(getPort(), (byte) button);
}
/**
* Get the state of a POV on the joystick.
*
* @return the angle of the POV in degrees, or -1 if the POV is not pressed.
* For the current joystick, return the number of buttons.
*/
public int getPOV(int pov) {
return 0; // TODO
public int getButtonCount() {
return 0;
}
/**
* Get buttons based on an enumerated type.
*
* The button type will be looked up in the list of buttons and then read.
* <p>The button type will be looked up in the list of buttons and then read.
*
* @param button The type of button to read.
* @return The state of the button.
*/
public boolean getButton(ButtonType button) {
switch (button.value) {
case ButtonType.kTrigger_val:
switch (button) {
case kTrigger:
return getTrigger();
case ButtonType.kTop_val:
case kTop:
return getTop();
default:
return false;
@@ -311,7 +275,7 @@ public class Joystick extends GenericHID {
/**
* Get the magnitude of the direction vector formed by the joystick's current position relative to
* its origin
* its origin.
*
* @return The magnitude of the direction vector
*/
@@ -320,7 +284,7 @@ public class Joystick extends GenericHID {
}
/**
* Get the direction of the vector formed by the joystick and its origin in radians
* Get the direction of the vector formed by the joystick and its origin in radians.
*
* @return The direction of the vector in radians
*/
@@ -329,9 +293,9 @@ public class Joystick extends GenericHID {
}
/**
* Get the direction of the vector formed by the joystick and its origin in degrees
* Get the direction of the vector formed by the joystick and its origin in degrees.
*
* uses acos(-1) to represent Pi due to absence of readily accessable Pi constant in C++
* <p>Uses acos(-1) to represent Pi due to absence of readily accessable Pi constant in C++
*
* @return The direction of the vector in degrees
*/
@@ -358,4 +322,66 @@ public class Joystick extends GenericHID {
public void setAxisChannel(AxisType axis, int channel) {
m_axes[axis.value] = (byte) channel;
}
/**
* Get the value of isXbox for the current joystick.
*
* @return A boolean that is true if the controller is an xbox controller.
*/
public boolean getIsXbox() {
return false;
}
/**
* Get the axis type of a joystick axis.
*
* @return the axis type of a joystick axis.
*/
public int getAxisType(int axis) {
return 0;
}
/**
* Get the type of the HID.
*
* @return the type of the HID.
*/
@Override
public HIDType getType() {
return HIDType.kUnknown;
}
/**
* Get the name of the HID.
*
* @return the name of the HID.
*/
@Override
public String getName() {
return "";
}
@Override
public void setOutput(int outputNumber, boolean value) {
m_outputs = (m_outputs & ~(1 << (outputNumber - 1))) | ((value ? 1 : 0) << (outputNumber - 1));
}
@Override
public void setOutputs(int value) {
m_outputs = value;
}
@Override
public void setRumble(RumbleType type, double value) {
if (value < 0) {
value = 0;
} else if (value > 1) {
value = 1;
}
if (type == RumbleType.kLeftRumble) {
m_leftRumble = (short) (value * 65535);
} else {
m_rightRumble = (short) (value * 65535);
}
}
}