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Add new joystick features

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Axis counts other than six and POVs are both present in C++ and Java now

Add dynamic joystick axis counts, up to 12

Change-Id: Ieade5e61a89df822df8702cb32326e4635558778

Add support for POVs in C++

Change-Id: I12dc0fcaca605a256ddcf990eebde45767229171

Make POVs work in Java

Change-Id: Ie2d98adb416c1930f058bdd21c3e7d26289df503
This commit is contained in:
Thomas Clark
2014-10-17 14:46:25 -04:00
parent 08c8723174
commit 8a541a67ca
16 changed files with 199 additions and 74 deletions
Download Patch File Download Diff File Expand all files Collapse all files

27
wpilibj/wpilibJavaDevices/src/main/java/edu/wpi/first/wpilibj/DriverStation.java
View File

@@ -30,10 +30,6 @@ public class DriverStation implements RobotState.Interface {
* Number of Joystick Ports
*/
public static final int kJoystickPorts = 4;
/**
* Number of Joystick Axes
*/
public static final int kJoystickAxes = 6;
/**
* Convert from raw values to volts
*/
@@ -61,7 +57,8 @@ public class DriverStation implements RobotState.Interface {
private HALControlWord m_controlWord;
private HALAllianceStationID m_allianceStationID;
private short[][] m_joystickAxes = new short[kJoystickAxes][kJoystickPorts];
private short[][] m_joystickAxes = new short[FRCNetworkCommunicationsLibrary.kMaxJoystickAxes][kJoystickPorts];
private short[][] m_joystickPOVs = new short[FRCNetworkCommunicationsLibrary.kMaxJoystickPOVs][kJoystickPorts];
private int[] m_joystickButtons = new int[kJoystickPorts];
private Thread m_thread;
@@ -185,6 +182,7 @@ public class DriverStation implements RobotState.Interface {
for(byte stick = 0; stick < kJoystickPorts; stick++) {
m_joystickButtons[stick] = FRCNetworkCommunicationsLibrary.HALGetJoystickButtons(stick);
m_joystickAxes[stick] = FRCNetworkCommunicationsLibrary.HALGetJoystickAxes(stick);
m_joystickPOVs[stick] = FRCNetworkCommunicationsLibrary.HALGetJoystickPOVs(stick);
}
if (!lastEnabled && isEnabled()) {
@@ -228,7 +226,7 @@ public class DriverStation implements RobotState.Interface {
throw new RuntimeException("Joystick index is out of range, should be 0-3");
}
if (axis < 1 || axis > kJoystickAxes) {
if (axis < 1 || axis > m_joystickAxes[stick].length) {
throw new RuntimeException("Joystick axis is out of range");
}
@@ -241,6 +239,23 @@ public class DriverStation implements RobotState.Interface {
}
}
/**
* Get the state of a POV on the joystick.
*
* @return the angle of the POV in degrees, or -1 if the POV is not pressed.
*/
public int getStickPOV(int stick, int pov) {
if(stick < 0 || stick >= kJoystickPorts) {
throw new RuntimeException("Joystick index is out of range, should be 0-3");
}
if (pov < 1 || pov > m_joystickPOVs[stick].length) {
throw new RuntimeException("Joystick POV is out of range");
}
return m_joystickPOVs[stick][pov - 1];
}
/**
* The state of the buttons on the joystick.
* 12 buttons (4 msb are unused) from the joystick.

9
wpilibj/wpilibJavaDevices/src/main/java/edu/wpi/first/wpilibj/Joystick.java
View File

@@ -279,6 +279,15 @@ public class Joystick extends GenericHID {
return ((0x1 << (button - 1)) & m_ds.getStickButtons(m_port)) != 0;
}
/**
* Get the state of a POV on the joystick.
*
* @return the angle of the POV in degrees, or -1 if the POV is not pressed.
*/
public int getPOV(int pov) {
return m_ds.getStickPOV(m_port, pov - 1);
}
/**
* Get buttons based on an enumerated type.
*

3
wpilibj/wpilibJavaDevices/src/main/java/edu/wpi/first/wpilibj/communication/FRCNetworkCommunicationsLibrary.java
View File

@@ -463,7 +463,10 @@ public class FRCNetworkCommunicationsLibrary extends JNIWrapper {
case 2:
return HALAllianceStationID.Red3;
case 3:
return HALAllianceStationID.Blue1;
case 4:
return HALAllianceStationID.Blue2;
case 5:
return HALAllianceStationID.Blue3;
default:
return null;