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

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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
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65
wpilibj/wpilibJavaDevices/src/main/java/edu/wpi/first/wpilibj/Joystick.java
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@@ -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
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@@ -468,6 +468,7 @@ public class FRCNetworkCommunicationsLibrary extends JNIWrapper {
return HALAllianceStationID.Blue2;
case 5:
return HALAllianceStationID.Blue3;
default:
return null;
}
}