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Initial checkin of unified hierarchy of WPILib 2015
This commit is contained in:
Brad Miller
302
wpilibc/src/main/native/Joystick.cpp
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302
wpilibc/src/main/native/Joystick.cpp
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/*----------------------------------------------------------------------------*/
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/* Copyright (c) FIRST 2008. All Rights Reserved. */
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/* Open Source Software - may be modified and shared by FRC teams. The code */
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/* must be accompanied by the FIRST BSD license file in $(WIND_BASE)/WPILib. */
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/*----------------------------------------------------------------------------*/
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#include "Joystick.h"
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#include "DriverStation.h"
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#include "NetworkCommunication/UsageReporting.h"
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#include "WPIErrors.h"
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#include <math.h>
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const uint32_t Joystick::kDefaultXAxis;
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const uint32_t Joystick::kDefaultYAxis;
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const uint32_t Joystick::kDefaultZAxis;
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const uint32_t Joystick::kDefaultTwistAxis;
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const uint32_t Joystick::kDefaultThrottleAxis;
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const uint32_t Joystick::kDefaultTriggerButton;
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const uint32_t Joystick::kDefaultTopButton;
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static Joystick *joysticks[DriverStation::kJoystickPorts];
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static bool joySticksInitialized = false;
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/**
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* Construct an instance of a joystick.
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* The joystick index is the usb port on the drivers station.
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*
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* @param port The port on the driver station that the joystick is plugged into.
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*/
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Joystick::Joystick(uint32_t port)
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: m_ds (NULL)
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, m_port (port)
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, m_axes (NULL)
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, m_buttons (NULL)
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{
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InitJoystick(kNumAxisTypes, kNumButtonTypes);
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m_axes[kXAxis] = kDefaultXAxis;
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m_axes[kYAxis] = kDefaultYAxis;
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m_axes[kZAxis] = kDefaultZAxis;
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m_axes[kTwistAxis] = kDefaultTwistAxis;
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m_axes[kThrottleAxis] = kDefaultThrottleAxis;
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m_buttons[kTriggerButton] = kDefaultTriggerButton;
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m_buttons[kTopButton] = kDefaultTopButton;
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nUsageReporting::report(nUsageReporting::kResourceType_Joystick, port);
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}
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/**
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* Version of the constructor to be called by sub-classes.
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*
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* This constructor allows the subclass to configure the number of constants
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* for axes and buttons.
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*
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* @param port The port on the driver station that the joystick is plugged into.
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* @param numAxisTypes The number of axis types in the enum.
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* @param numButtonTypes The number of button types in the enum.
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*/
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Joystick::Joystick(uint32_t port, uint32_t numAxisTypes, uint32_t numButtonTypes)
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: m_ds (NULL)
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, m_port (port)
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, m_axes (NULL)
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, m_buttons (NULL)
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{
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InitJoystick(numAxisTypes, numButtonTypes);
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}
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void Joystick::InitJoystick(uint32_t numAxisTypes, uint32_t numButtonTypes)
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{
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if ( !joySticksInitialized )
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{
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for (unsigned i = 0; i < DriverStation::kJoystickPorts; i++)
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joysticks[i] = NULL;
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joySticksInitialized = true;
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}
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joysticks[m_port - 1] = this;
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m_ds = DriverStation::GetInstance();
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m_axes = new uint32_t[numAxisTypes];
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m_buttons = new uint32_t[numButtonTypes];
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}
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Joystick * Joystick::GetStickForPort(uint32_t port)
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{
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Joystick *stick = joysticks[port - 1];
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if (stick == NULL)
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{
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stick = new Joystick(port);
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joysticks[port - 1] = stick;
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}
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return stick;
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}
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Joystick::~Joystick()
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{
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delete [] m_buttons;
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delete [] m_axes;
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}
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/**
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* Get the X value of the joystick.
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* This depends on the mapping of the joystick connected to the current port.
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*/
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float Joystick::GetX(JoystickHand hand)
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{
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return GetRawAxis(m_axes[kXAxis]);
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}
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/**
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* Get the Y value of the joystick.
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* This depends on the mapping of the joystick connected to the current port.
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*/
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float Joystick::GetY(JoystickHand hand)
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{
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return GetRawAxis(m_axes[kYAxis]);
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}
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/**
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* Get the Z value of the current joystick.
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* This depends on the mapping of the joystick connected to the current port.
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*/
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float Joystick::GetZ()
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{
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return GetRawAxis(m_axes[kZAxis]);
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}
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/**
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* Get the twist value of the current joystick.
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* This depends on the mapping of the joystick connected to the current port.
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*/
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float Joystick::GetTwist()
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{
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return GetRawAxis(m_axes[kTwistAxis]);
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}
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/**
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* Get the throttle value of the current joystick.
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* This depends on the mapping of the joystick connected to the current port.
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*/
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float Joystick::GetThrottle()
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{
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return GetRawAxis(m_axes[kThrottleAxis]);
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}
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/**
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* Get the value of the axis.
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*
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* @param axis The axis to read [1-6].
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* @return The value of the axis.
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*/
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float Joystick::GetRawAxis(uint32_t axis)
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{
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return m_ds->GetStickAxis(m_port, axis);
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}
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/**
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* For the current joystick, return the axis determined by the argument.
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*
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* This is for cases where the joystick axis is returned programatically, otherwise one of the
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* previous functions would be preferable (for example GetX()).
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*
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* @param axis The axis to read.
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* @return The value of the axis.
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*/
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float Joystick::GetAxis(AxisType axis)
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{
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switch(axis)
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{
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case kXAxis: return this->GetX();
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case kYAxis: return this->GetY();
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case kZAxis: return this->GetZ();
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case kTwistAxis: return this->GetTwist();
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case kThrottleAxis: return this->GetThrottle();
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default:
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wpi_setWPIError(BadJoystickAxis);
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return 0.0;
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}
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}
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/**
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* Read the state of the trigger on the joystick.
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*
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* Look up which button has been assigned to the trigger and read its state.
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*
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* @param hand This parameter is ignored for the Joystick class and is only here to complete the GenericHID interface.
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* @return The state of the trigger.
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*/
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bool Joystick::GetTrigger(JoystickHand hand)
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{
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return GetRawButton(m_buttons[kTriggerButton]);
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}
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/**
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* Read the state of the top button on the joystick.
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*
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* Look up which button has been assigned to the top and read its state.
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*
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* @param hand This parameter is ignored for the Joystick class and is only here to complete the GenericHID interface.
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* @return The state of the top button.
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*/
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bool Joystick::GetTop(JoystickHand hand)
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{
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return GetRawButton(m_buttons[kTopButton]);
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}
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/**
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* This is not supported for the Joystick.
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* This method is only here to complete the GenericHID interface.
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*/
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bool Joystick::GetBumper(JoystickHand hand)
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{
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// Joysticks don't have bumpers.
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return false;
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}
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/**
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* Get the button value for buttons 1 through 12.
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*
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* The buttons are returned in a single 16 bit value with one bit representing the state
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* of each button. The appropriate button is returned as a boolean value.
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*
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* @param button The button number to be read.
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* @return The state of the button.
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**/
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bool Joystick::GetRawButton(uint32_t button)
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{
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return ((0x1 << (button-1)) & m_ds->GetStickButtons(m_port)) != 0;
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}
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/**
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* Get buttons based on an enumerated type.
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*
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* The button type will be looked up in the list of buttons and then read.
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*
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* @param button The type of button to read.
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* @return The state of the button.
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*/
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bool Joystick::GetButton(ButtonType button)
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{
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switch (button)
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{
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case kTriggerButton: return GetTrigger();
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case kTopButton: return GetTop();
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default:
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return false;
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}
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}
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/**
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* Get the channel currently associated with the specified axis.
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*
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* @param axis The axis to look up the channel for.
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* @return The channel fr the axis.
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*/
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uint32_t Joystick::GetAxisChannel(AxisType axis)
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{
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return m_axes[axis];
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}
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/**
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* Set the channel associated with a specified axis.
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*
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* @param axis The axis to set the channel for.
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* @param channel The channel to set the axis to.
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*/
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void Joystick::SetAxisChannel(AxisType axis, uint32_t channel)
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{
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m_axes[axis] = channel;
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}
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/**
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* Get the magnitude of the direction vector formed by the joystick's
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* current position relative to its origin
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*
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* @return The magnitude of the direction vector
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*/
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float Joystick::GetMagnitude(){
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return sqrt(pow(GetX(),2) + pow(GetY(),2) );
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}
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/**
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* Get the direction of the vector formed by the joystick and its origin
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* in radians
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*
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* @return The direction of the vector in radians
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*/
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float Joystick::GetDirectionRadians(){
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return atan2(GetX(), -GetY());
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}
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/**
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* Get the direction of the vector formed by the joystick and its origin
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* in degrees
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*
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* uses acos(-1) to represent Pi due to absence of readily accessable Pi
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* constant in C++
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*
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* @return The direction of the vector in degrees
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*/
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float Joystick::GetDirectionDegrees(){
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return (180/acos(-1))*GetDirectionRadians();
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}
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