Team2890/allwpilib
4
0
Fork 0
mirror of https://github.com/wpilibsuite/allwpilib synced 2026-06-30 02:31:44 +00:00
Code Issues Packages Projects Releases Wiki Activity

Merge "Implement Joystick Outputs and Rumble (fixes artf3807)"

Browse Source
This commit is contained in:
Brad Miller (WPI)
2014-12-05 11:42:14 -08:00
committed by Gerrit Code Review
parent 45f3b76103 dac04cb4a2
commit 5e6cd0bf9e
7 changed files with 153 additions and 1 deletions
Download Patch File Download Diff File Expand all files Collapse all files

12
hal/include/HAL/HAL.hpp
View File

@@ -182,6 +182,16 @@ struct HALJoystickButtons {
uint8_t count;
};
struct HALJoystickDescriptor {
uint8_t isXbox;
uint8_t type;
char name[256];
uint8_t axisCount;
uint8_t axisTypes;
uint8_t buttonCount;
uint8_t povCount;
};
inline float intToFloat(int value)
{
return (float)value;
@@ -216,6 +226,8 @@ extern "C"
int HALGetJoystickAxes(uint8_t joystickNum, HALJoystickAxes *axes);
int HALGetJoystickPOVs(uint8_t joystickNum, HALJoystickPOVs *povs);
int HALGetJoystickButtons(uint8_t joystickNum, HALJoystickButtons *buttons);
int HALGetJoystickDescriptor(uint8_t joystickNum, HALJoystickDescriptor *desc);
int HALSetJoystickOutputs(uint8_t joystickNum, uint32_t outputs, uint16_t leftRumble, uint16_t rightRumble);
int HALGetMatchTime(float *matchTime);
void HALSetNewDataSem(pthread_cond_t *);

11
hal/lib/Athena/HAL.cpp
View File

@@ -207,6 +207,17 @@ int HALGetJoystickButtons(uint8_t joystickNum, HALJoystickButtons *buttons)
return FRC_NetworkCommunication_getJoystickButtons(joystickNum, &buttons->buttons, &buttons->count);
}
int HALGetJoystickDescriptor(uint8_t joystickNum, HALJoystickDescriptor *desc)
{
return FRC_NetworkCommunication_getJoystickDesc(joystickNum, &desc->isXbox, &desc->type, (char *)(&desc->name),
&desc->axisCount, &desc->axisTypes, &desc->buttonCount, &desc->povCount);
}
int HALSetJoystickOutputs(uint8_t joystickNum, uint32_t outputs, uint16_t leftRumble, uint16_t rightRumble)
{
return FRC_NetworkCommunication_setJoystickOutputs(joystickNum, outputs, leftRumble, rightRumble);
}
int HALGetMatchTime(float *matchTime)
{
return FRC_NetworkCommunication_getMatchTime(matchTime);

11
wpilibc/wpilibC++Devices/include/Joystick.h
View File

@@ -37,6 +37,10 @@ public:
{
kTriggerButton, kTopButton, kNumButtonTypes
} ButtonType;
typedef enum
{
kLeftRumble, kRightRumble
} RumbleType;
explicit Joystick(uint32_t port);
Joystick(uint32_t port, uint32_t numAxisTypes, uint32_t numButtonTypes);
@@ -64,6 +68,10 @@ public:
virtual float GetMagnitude();
virtual float GetDirectionRadians();
virtual float GetDirectionDegrees();
void SetRumble(RumbleType type, float value);
void SetOutput(uint8_t outputNumber, bool value);
void SetOutputs(uint32_t value);
private:
DISALLOW_COPY_AND_ASSIGN(Joystick);
@@ -73,6 +81,9 @@ private:
uint32_t m_port;
uint32_t *m_axes;
uint32_t *m_buttons;
uint32_t m_outputs;
uint16_t m_leftRumble;
uint16_t m_rightRumble;
};
#endif

40
wpilibc/wpilibC++Devices/src/Joystick.cpp
View File

@@ -31,6 +31,9 @@ Joystick::Joystick(uint32_t port)
, m_port (port)
, m_axes (NULL)
, m_buttons (NULL)
, m_outputs (0)
, m_leftRumble (0)
, m_rightRumble (0)
{
InitJoystick(kNumAxisTypes, kNumButtonTypes);
@@ -305,7 +308,7 @@ float Joystick::GetDirectionRadians(){
* 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
* uses acos(-1) to represent Pi due to absence of readily accessible Pi
* constant in C++
*
* @return The direction of the vector in degrees
@@ -313,3 +316,38 @@ float Joystick::GetDirectionRadians(){
float Joystick::GetDirectionDegrees(){
return (180/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 (type == kLeftRumble)
m_leftRumble = value*65535;
else
m_rightRumble = value*65535;
HALSetJoystickOutputs(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(uint8_t outputNumber, bool value) {
m_outputs = (m_outputs & ~(1 << (outputNumber-1))) | (value << (outputNumber-1));
HALSetJoystickOutputs(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(uint32_t value) {
m_outputs = value;
HALSetJoystickOutputs(m_port, m_outputs, m_leftRumble, m_rightRumble);
}

65
wpilibj/wpilibJavaDevices/src/main/java/edu/wpi/first/wpilibj/Joystick.java
View File

@@ -7,6 +7,7 @@
package edu.wpi.first.wpilibj;
import edu.wpi.first.wpilibj.communication.FRCNetworkCommunicationsLibrary.tResourceType;
import edu.wpi.first.wpilibj.communication.FRCNetworkCommunicationsLibrary;
import edu.wpi.first.wpilibj.communication.UsageReporting;
/**
@@ -99,10 +100,40 @@ public class Joystick extends GenericHID {
this.value = value;
}
}
/**
* Represents a rumble output on the JoyStick
*/
public static class RumbleType {
/**
* The integer value representing this enumeration
*/
public final int value;
static final int kLeftRumble_val = 0;
static final int kRightRumble_val = 1;
/**
* Left Rumble
*/
public static final RumbleType kLeftRumble = new RumbleType((kLeftRumble_val));
/**
* Right Rumble
*/
public static final RumbleType kRightRumble = new RumbleType(kRightRumble_val);
private RumbleType(int value) {
this.value = value;
}
}
private DriverStation m_ds;
private final int m_port;
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.
@@ -359,4 +390,38 @@ public class Joystick extends GenericHID {
public void setAxisChannel(AxisType axis, int channel) {
m_axes[axis.value] = (byte) channel;
}
/**
* 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
*/
public void setRumble(RumbleType type, float value) {
if (type.value == RumbleType.kLeftRumble_val)
m_leftRumble = (short)(value*65535);
else
m_rightRumble = (short)(value*65535);
FRCNetworkCommunicationsLibrary.HALSetJoystickOutputs((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));
FRCNetworkCommunicationsLibrary.HALSetJoystickOutputs((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;
FRCNetworkCommunicationsLibrary.HALSetJoystickOutputs((byte)m_port, m_outputs, m_leftRumble, m_rightRumble);
}
}

1
wpilibj/wpilibJavaDevices/src/main/java/edu/wpi/first/wpilibj/communication/FRCNetworkCommunicationsLibrary.java
View File

@@ -468,6 +468,7 @@ public class FRCNetworkCommunicationsLibrary extends JNIWrapper {
return HALAllianceStationID.Blue2;
case 5:
return HALAllianceStationID.Blue3;
default:
return null;
}
}

14
wpilibj/wpilibJavaJNI/lib/FRCNetworkCommunicationsLibrary.cpp
View File

@@ -341,6 +341,20 @@ JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_communication_FRCNetworkCommun
return joystickButtons.buttons;
}
/*
* Class: edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary
* Method: HALSetJoystickOutputs
* Signature: (BISS)I
*/
JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary_HALSetJoystickOutputs
(JNIEnv *, jclass, jbyte port, jint outputs, jshort leftRumble, jshort rightRumble)
{
NETCOMM_LOG(logDEBUG) << "Calling HALSetJoystickOutputs on port " << port;
NETCOMM_LOG(logDEBUG) << "Outputs: " << outputs;
NETCOMM_LOG(logDEBUG) << "Left Rumble: " << leftRumble << " Right Rumble: " << rightRumble;
return HALSetJoystickOutputs(port, outputs, leftRumble, rightRumble);
}
/*
* Class: edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary
* Method: setNewDataSem