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https://github.com/wpilibsuite/allwpilib
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[wpilib] Add support for the PS5 DualSense controller (#5257)
Co-authored-by: Tyler Veness <calcmogul@gmail.com>
This commit is contained in:
David Baucum
529
wpilibc/src/main/native/include/frc/PS5Controller.h
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529
wpilibc/src/main/native/include/frc/PS5Controller.h
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// Copyright (c) FIRST and other WPILib contributors.
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// Open Source Software; you can modify and/or share it under the terms of
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// the WPILib BSD license file in the root directory of this project.
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#pragma once
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#include "frc/GenericHID.h"
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namespace frc {
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/**
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* Handle input from PS5 controllers connected to the Driver Station.
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*
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* <p>This class handles PS5 input that comes from the Driver Station. Each time
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* a value is requested the most recent value is returned. There is a single
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* class instance for each controller and the mapping of ports to hardware
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* buttons depends on the code in the Driver Station.
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*/
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class PS5Controller : public GenericHID {
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public:
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/**
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* Construct an instance of an PS5 controller.
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*
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* The controller index is the USB port on the Driver Station.
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*
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* @param port The port on the Driver Station that the controller is plugged
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* into (0-5).
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*/
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explicit PS5Controller(int port);
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~PS5Controller() override = default;
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PS5Controller(PS5Controller&&) = default;
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PS5Controller& operator=(PS5Controller&&) = default;
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/**
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* Get the X axis value of left side of the controller.
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*
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* @return the axis value.
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*/
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double GetLeftX() const;
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/**
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* Get the X axis value of right side of the controller.
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*
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* @return the axis value.
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*/
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double GetRightX() const;
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/**
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* Get the Y axis value of left side of the controller.
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*
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* @return the axis value.
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*/
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double GetLeftY() const;
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/**
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* Get the Y axis value of right side of the controller.
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*
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* @return the axis value.
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*/
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double GetRightY() const;
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/**
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* Get the L2 axis value of the controller. Note that this axis is bound to
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* the range of [0, 1] as opposed to the usual [-1, 1].
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*
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* @return the axis value.
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*/
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double GetL2Axis() const;
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/**
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* Get the R2 axis value of the controller. Note that this axis is bound to
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* the range of [0, 1] as opposed to the usual [-1, 1].
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*
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* @return the axis value.
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*/
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double GetR2Axis() const;
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/**
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* Read the value of the Square button on the controller.
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*
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* @return The state of the button.
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*/
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bool GetSquareButton() const;
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/**
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* Whether the Square button was pressed since the last check.
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*
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* @return Whether the button was pressed since the last check.
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*/
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bool GetSquareButtonPressed();
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/**
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* Whether the Square button was released since the last check.
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*
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* @return Whether the button was released since the last check.
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*/
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bool GetSquareButtonReleased();
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/**
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* Constructs an event instance around the square button's digital signal.
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*
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* @param loop the event loop instance to attach the event to.
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* @return an event instance representing the square button's digital signal
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* attached to the given loop.
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*/
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BooleanEvent Square(EventLoop* loop) const;
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/**
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* Read the value of the Cross button on the controller.
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*
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* @return The state of the button.
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*/
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bool GetCrossButton() const;
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/**
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* Whether the Cross button was pressed since the last check.
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*
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* @return Whether the button was pressed since the last check.
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*/
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bool GetCrossButtonPressed();
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/**
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* Whether the Cross button was released since the last check.
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*
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* @return Whether the button was released since the last check.
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*/
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bool GetCrossButtonReleased();
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/**
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* Constructs an event instance around the cross button's digital signal.
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*
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* @param loop the event loop instance to attach the event to.
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* @return an event instance representing the cross button's digital signal
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* attached to the given loop.
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*/
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BooleanEvent Cross(EventLoop* loop) const;
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/**
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* Read the value of the Circle button on the controller.
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*
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* @return The state of the button.
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*/
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bool GetCircleButton() const;
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/**
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* Whether the Circle button was pressed since the last check.
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*
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* @return Whether the button was pressed since the last check.
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*/
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bool GetCircleButtonPressed();
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/**
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* Whether the Circle button was released since the last check.
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*
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* @return Whether the button was released since the last check.
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*/
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bool GetCircleButtonReleased();
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/**
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* Constructs an event instance around the circle button's digital signal.
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*
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* @param loop the event loop instance to attach the event to.
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* @return an event instance representing the circle button's digital signal
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* attached to the given loop.
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*/
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BooleanEvent Circle(EventLoop* loop) const;
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/**
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* Read the value of the Triangle button on the controller.
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*
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* @return The state of the button.
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*/
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bool GetTriangleButton() const;
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/**
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* Whether the Triangle button was pressed since the last check.
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*
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* @return Whether the button was pressed since the last check.
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*/
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bool GetTriangleButtonPressed();
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/**
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* Whether the Triangle button was released since the last check.
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*
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* @return Whether the button was released since the last check.
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*/
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bool GetTriangleButtonReleased();
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/**
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* Constructs an event instance around the triangle button's digital signal.
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*
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* @param loop the event loop instance to attach the event to.
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* @return an event instance representing the triangle button's digital signal
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* attached to the given loop.
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*/
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BooleanEvent Triangle(EventLoop* loop) const;
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/**
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* Read the value of the L1 button on the controller.
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*
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* @return The state of the button.
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*/
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bool GetL1Button() const;
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/**
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* Whether the L1 button was pressed since the last check.
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*
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* @return Whether the button was pressed since the last check.
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*/
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bool GetL1ButtonPressed();
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/**
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* Whether the L1 button was released since the last check.
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*
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* @return Whether the button was released since the last check.
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*/
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bool GetL1ButtonReleased();
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/**
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* Constructs an event instance around the L1 button's digital signal.
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*
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* @param loop the event loop instance to attach the event to.
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* @return an event instance representing the L1 button's digital signal
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* attached to the given loop.
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*/
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BooleanEvent L1(EventLoop* loop) const;
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/**
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* Read the value of the R1 button on the controller.
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*
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* @return The state of the button.
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*/
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bool GetR1Button() const;
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/**
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* Whether the R1 button was pressed since the last check.
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*
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* @return Whether the button was pressed since the last check.
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*/
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bool GetR1ButtonPressed();
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/**
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* Whether the R1 button was released since the last check.
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*
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* @return Whether the button was released since the last check.
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*/
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bool GetR1ButtonReleased();
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/**
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* Constructs an event instance around the R1 button's digital signal.
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*
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* @param loop the event loop instance to attach the event to.
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* @return an event instance representing the R1 button's digital signal
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* attached to the given loop.
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*/
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BooleanEvent R1(EventLoop* loop) const;
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/**
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* Read the value of the L2 button on the controller.
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*
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* @return The state of the button.
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*/
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bool GetL2Button() const;
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/**
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* Whether the L2 button was pressed since the last check.
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*
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* @return Whether the button was pressed since the last check.
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*/
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bool GetL2ButtonPressed();
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/**
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* Whether the L2 button was released since the last check.
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*
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* @return Whether the button was released since the last check.
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*/
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bool GetL2ButtonReleased();
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/**
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* Constructs an event instance around the L2 button's digital signal.
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*
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* @param loop the event loop instance to attach the event to.
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* @return an event instance representing the L2 button's digital signal
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* attached to the given loop.
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*/
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BooleanEvent L2(EventLoop* loop) const;
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/**
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* Read the value of the R2 button on the controller.
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*
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* @return The state of the button.
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*/
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bool GetR2Button() const;
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/**
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* Whether the R2 button was pressed since the last check.
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*
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* @return Whether the button was pressed since the last check.
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*/
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bool GetR2ButtonPressed();
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/**
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* Whether the R2 button was released since the last check.
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*
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* @return Whether the button was released since the last check.
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*/
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bool GetR2ButtonReleased();
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/**
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* Constructs an event instance around the R2 button's digital signal.
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*
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* @param loop the event loop instance to attach the event to.
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* @return an event instance representing the R2 button's digital signal
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* attached to the given loop.
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*/
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BooleanEvent R2(EventLoop* loop) const;
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/**
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* Read the value of the Create button on the controller.
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*
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* @return The state of the button.
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*/
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bool GetCreateButton() const;
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/**
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* Whether the Create button was pressed since the last check.
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*
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* @return Whether the button was pressed since the last check.
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*/
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bool GetCreateButtonPressed();
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/**
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* Whether the Create button was released since the last check.
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*
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* @return Whether the button was released since the last check.
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*/
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bool GetCreateButtonReleased();
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/**
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* Constructs an event instance around the Create button's digital signal.
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*
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* @param loop the event loop instance to attach the event to.
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* @return an event instance representing the Create button's digital signal
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* attached to the given loop.
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*/
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BooleanEvent Create(EventLoop* loop) const;
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/**
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* Read the value of the Options button on the controller.
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*
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* @return The state of the button.
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*/
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bool GetOptionsButton() const;
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/**
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* Whether the Options button was pressed since the last check.
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*
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* @return Whether the button was pressed since the last check.
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*/
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bool GetOptionsButtonPressed();
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/**
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* Whether the Options button was released since the last check.
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*
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* @return Whether the button was released since the last check.
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*/
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bool GetOptionsButtonReleased();
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/**
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* Constructs an event instance around the options button's digital signal.
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*
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* @param loop the event loop instance to attach the event to.
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* @return an event instance representing the options button's digital signal
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* attached to the given loop.
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*/
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BooleanEvent Options(EventLoop* loop) const;
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/**
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* Read the value of the L3 button (pressing the left analog stick) on the
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* controller.
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*
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* @return The state of the button.
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*/
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bool GetL3Button() const;
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/**
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* Whether the L3 (left stick) button was pressed since the last check.
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*
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* @return Whether the button was pressed since the last check.
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*/
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bool GetL3ButtonPressed();
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/**
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* Whether the L3 (left stick) button was released since the last check.
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*
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* @return Whether the button was released since the last check.
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*/
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bool GetL3ButtonReleased();
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/**
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* Constructs an event instance around the L3 button's digital signal.
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*
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* @param loop the event loop instance to attach the event to.
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* @return an event instance representing the L3 button's digital signal
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* attached to the given loop.
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*/
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BooleanEvent L3(EventLoop* loop) const;
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/**
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* Read the value of the R3 button (pressing the right analog stick) on the
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* controller.
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*
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* @return The state of the button.
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*/
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bool GetR3Button() const;
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/**
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* Whether the R3 (right stick) button was pressed since the last check.
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*
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* @return Whether the button was pressed since the last check.
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*/
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bool GetR3ButtonPressed();
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/**
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* Whether the R3 (right stick) button was released since the last check.
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*
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* @return Whether the button was released since the last check.
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*/
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bool GetR3ButtonReleased();
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/**
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* Constructs an event instance around the R3 button's digital signal.
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*
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* @param loop the event loop instance to attach the event to.
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* @return an event instance representing the R3 button's digital signal
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* attached to the given loop.
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*/
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BooleanEvent R3(EventLoop* loop) const;
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/**
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* Read the value of the PS button on the controller.
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*
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* @return The state of the button.
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*/
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bool GetPSButton() const;
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/**
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* Whether the PS button was pressed since the last check.
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*
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* @return Whether the button was pressed since the last check.
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*/
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bool GetPSButtonPressed();
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/**
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* Whether the PS button was released since the last check.
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*
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* @return Whether the button was released since the last check.
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*/
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bool GetPSButtonReleased();
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/**
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* Constructs an event instance around the PS button's digital signal.
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*
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* @param loop the event loop instance to attach the event to.
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* @return an event instance representing the PS button's digital signal
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* attached to the given loop.
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*/
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BooleanEvent PS(EventLoop* loop) const;
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/**
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* Read the value of the touchpad button on the controller.
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*
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* @return The state of the button.
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*/
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bool GetTouchpad() const;
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/**
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* Whether the touchpad was pressed since the last check.
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*
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* @return Whether the touchpad was pressed since the last check.
|
||||
*/
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bool GetTouchpadPressed();
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/**
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* Whether the touchpad was released since the last check.
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*
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||||
* @return Whether the touchpad was released since the last check.
|
||||
*/
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bool GetTouchpadReleased();
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/**
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* Constructs an event instance around the touchpad's digital signal.
|
||||
*
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||||
* @param loop the event loop instance to attach the event to.
|
||||
* @return an event instance representing the touchpad's digital signal
|
||||
* attached to the given loop.
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*/
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BooleanEvent Touchpad(EventLoop* loop) const;
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||||
struct Button {
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static constexpr int kSquare = 3;
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static constexpr int kCross = 1;
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static constexpr int kCircle = 2;
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static constexpr int kTriangle = 4;
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static constexpr int kL1 = 5;
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static constexpr int kR1 = 6;
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static constexpr int kL2 = 7;
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static constexpr int kR2 = 8;
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static constexpr int kCreate = 9;
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static constexpr int kOptions = 10;
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static constexpr int kL3 = 12;
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static constexpr int kR3 = 13;
|
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static constexpr int kPS = 11;
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static constexpr int kTouchpad = 14;
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||||
};
|
||||
|
||||
struct Axis {
|
||||
static constexpr int kLeftX = 0;
|
||||
static constexpr int kLeftY = 1;
|
||||
static constexpr int kRightX = 3;
|
||||
static constexpr int kRightY = 4;
|
||||
static constexpr int kL2 = 2;
|
||||
static constexpr int kR2 = 5;
|
||||
};
|
||||
};
|
||||
|
||||
} // namespace frc
|
||||
@@ -0,0 +1,176 @@
|
||||
// Copyright (c) FIRST and other WPILib contributors.
|
||||
// Open Source Software; you can modify and/or share it under the terms of
|
||||
// the WPILib BSD license file in the root directory of this project.
|
||||
|
||||
#pragma once
|
||||
|
||||
#include "frc/simulation/GenericHIDSim.h"
|
||||
|
||||
namespace frc {
|
||||
|
||||
class PS5Controller;
|
||||
|
||||
namespace sim {
|
||||
|
||||
/**
|
||||
* Class to control a simulated PS5 controller.
|
||||
*/
|
||||
class PS5ControllerSim : public GenericHIDSim {
|
||||
public:
|
||||
/**
|
||||
* Constructs from a PS5Controller object.
|
||||
*
|
||||
* @param joystick controller to simulate
|
||||
*/
|
||||
explicit PS5ControllerSim(const PS5Controller& joystick);
|
||||
|
||||
/**
|
||||
* Constructs from a joystick port number.
|
||||
*
|
||||
* @param port port number
|
||||
*/
|
||||
explicit PS5ControllerSim(int port);
|
||||
|
||||
/**
|
||||
* Change the X axis value of the controller's left stick.
|
||||
*
|
||||
* @param value the new value
|
||||
*/
|
||||
void SetLeftX(double value);
|
||||
|
||||
/**
|
||||
* Change the X axis value of the controller's right stick.
|
||||
*
|
||||
* @param value the new value
|
||||
*/
|
||||
void SetRightX(double value);
|
||||
|
||||
/**
|
||||
* Change the Y axis value of the controller's left stick.
|
||||
*
|
||||
* @param value the new value
|
||||
*/
|
||||
void SetLeftY(double value);
|
||||
|
||||
/**
|
||||
* Change the Y axis value of the controller's right stick.
|
||||
*
|
||||
* @param value the new value
|
||||
*/
|
||||
void SetRightY(double value);
|
||||
|
||||
/**
|
||||
* Change the L2 axis axis value of the controller.
|
||||
*
|
||||
* @param value the new value
|
||||
*/
|
||||
void SetL2Axis(double value);
|
||||
|
||||
/**
|
||||
* Change the R2 axis value of the controller.
|
||||
*
|
||||
* @param value the new value
|
||||
*/
|
||||
void SetR2Axis(double value);
|
||||
|
||||
/**
|
||||
* Change the value of the Square button on the controller.
|
||||
*
|
||||
* @param value the new value
|
||||
*/
|
||||
void SetSquareButton(bool value);
|
||||
|
||||
/**
|
||||
* Change the value of the Cross button on the controller.
|
||||
*
|
||||
* @param value the new value
|
||||
*/
|
||||
void SetCrossButton(bool value);
|
||||
|
||||
/**
|
||||
* Change the value of the Circle button on the controller.
|
||||
*
|
||||
* @param value the new value
|
||||
*/
|
||||
void SetCircleButton(bool value);
|
||||
|
||||
/**
|
||||
* Change the value of the Triangle button on the controller.
|
||||
*
|
||||
* @param value the new value
|
||||
*/
|
||||
void SetTriangleButton(bool value);
|
||||
|
||||
/**
|
||||
* Change the value of the L1 button on the controller.
|
||||
*
|
||||
* @param value the new value
|
||||
*/
|
||||
void SetL1Button(bool value);
|
||||
|
||||
/**
|
||||
* Change the value of the R1 button on the controller.
|
||||
*
|
||||
* @param value the new value
|
||||
*/
|
||||
void SetR1Button(bool value);
|
||||
|
||||
/**
|
||||
* Change the value of the L2 button on the controller.
|
||||
*
|
||||
* @param value the new value
|
||||
*/
|
||||
void SetL2Button(bool value);
|
||||
|
||||
/**
|
||||
* Change the value of the R2 button on the controller.
|
||||
*
|
||||
* @param value the new value
|
||||
*/
|
||||
void SetR2Button(bool value);
|
||||
|
||||
/**
|
||||
* Change the value of the Create button on the controller.
|
||||
*
|
||||
* @param value the new value
|
||||
*/
|
||||
void SetCreateButton(bool value);
|
||||
|
||||
/**
|
||||
* Change the value of the Options button on the controller.
|
||||
*
|
||||
* @param value the new value
|
||||
*/
|
||||
void SetOptionsButton(bool value);
|
||||
|
||||
/**
|
||||
* Change the value of the L3 (left stick) button on the controller.
|
||||
*
|
||||
* @param value the new value
|
||||
*/
|
||||
void SetL3Button(bool value);
|
||||
|
||||
/**
|
||||
* Change the value of the R3 (right stick) button on the controller.
|
||||
*
|
||||
* @param value the new value
|
||||
*/
|
||||
void SetR3Button(bool value);
|
||||
|
||||
/**
|
||||
* Change the value of the PS button on the controller.
|
||||
*
|
||||
* @param value the new value
|
||||
*/
|
||||
void SetPSButton(bool value);
|
||||
|
||||
/**
|
||||
* Change the value of the touchpad button on the controller.
|
||||
*
|
||||
* @param value the new value
|
||||
*/
|
||||
void SetTouchpad(bool value);
|
||||
};
|
||||
|
||||
} // namespace sim
|
||||
} // namespace frc
|
||||
Reference in New Issue
Block a user