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Added XboxController class (#140)

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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
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152
wpilibc/athena/src/Joystick.cpp
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@@ -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);
}