Added XboxController class (#140)

Joystick and Gamepad functionality was separated into cleaner interfaces.
2026-06-27 02:01:42 +00:00 · 2016-11-18 23:05:37 -08:00
parent 8c93ceb728
commit 140c365e4b
22 changed files with 1499 additions and 646 deletions
--- a/wpilibc/sim/src/GenericHID.cpp
+++ b/wpilibc/sim/src/GenericHID.cpp
@@ -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;
+  }
+}