Added XboxController class (#140)

Joystick and Gamepad functionality was separated into cleaner interfaces.

wpilibc/shared/include/GamepadBase.h

@@ -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

wpilibc/shared/include/GenericHID.h

@@ -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

wpilibc/shared/include/Joystick.h

@@ -0,0 +1,88 @@
+/*----------------------------------------------------------------------------*/
+/* 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 <vector>
+
+#include "ErrorBase.h"
+#include "JoystickBase.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 JoystickBase, 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;
+
+  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(JoystickHand hand = kRightHand) const override;
+  float GetTwist() const override;
+  float GetThrottle() const override;
+  virtual float GetAxis(AxisType axis) const;
+
+  bool GetTrigger(JoystickHand hand = kRightHand) const override;
+  bool GetTop(JoystickHand hand = kRightHand) const override;
+  bool GetButton(ButtonType button) const;
+  static Joystick* GetStickForPort(int port);
+
+  virtual float GetMagnitude() const;
+  virtual float GetDirectionRadians() const;
+  virtual float GetDirectionDegrees() const;
+
+  int GetAxisType(int axis) const;
+
+  int GetAxisCount() const;
+  int GetButtonCount() const;
+
+ private:
+  DriverStation& m_ds;
+  std::vector<int> m_axes;
+  std::vector<int> m_buttons;
+};
+
+}  // namespace frc

wpilibc/shared/include/JoystickBase.h

@@ -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

wpilibc/shared/include/XboxController.h

@@ -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