Team2890/allwpilib
4
0
Fork 0
mirror of https://github.com/wpilibsuite/allwpilib synced 2026-06-19 00:41:43 +00:00
Code Issues Packages Projects Releases Wiki Activity

[hal,wpilib] Add support for joystick outputs (#8385)

Browse Source 
Support joystick outputs, including Rumble and LEDs.

Also requires an update to Joystick descriptors, as that has also
changed in mrccomm to support showing what outputs are supported.
This commit is contained in:
Thad House
2025-11-17 14:36:14 -08:00
committed by GitHub
parent 5db6d2f500
commit ce6fd225a6
54 changed files with 1607 additions and 854 deletions
Download Patch File Download Diff File Expand all files Collapse all files

34
wpilibc/src/main/native/cpp/driverstation/GenericHID.cpp
View File

@@ -135,8 +135,13 @@ bool GenericHID::IsConnected() const {
return DriverStation::IsJoystickConnected(m_port);
}
GenericHID::HIDType GenericHID::GetType() const {
return static_cast<HIDType>(DriverStation::GetJoystickType(m_port));
GenericHID::HIDType GenericHID::GetGamepadType() const {
return static_cast<HIDType>(DriverStation::GetJoystickGamepadType(m_port));
}
GenericHID::SupportedOutputs GenericHID::GetSupportedOutputs() const {
return static_cast<SupportedOutputs>(
DriverStation::GetJoystickSupportedOutputs(m_port));
}
std::string GenericHID::GetName() const {
@@ -147,16 +152,11 @@ int GenericHID::GetPort() const {
return m_port;
}
void GenericHID::SetOutput(int outputNumber, bool value) {
m_outputs =
(m_outputs & ~(1 << (outputNumber - 1))) | (value << (outputNumber - 1));
HAL_SetJoystickOutputs(m_port, m_outputs, m_leftRumble, m_rightRumble);
}
void GenericHID::SetOutputs(int value) {
m_outputs = value;
HAL_SetJoystickOutputs(m_port, m_outputs, m_leftRumble, m_rightRumble);
void GenericHID::SetLeds(int r, int g, int b) {
uint32_t value = (static_cast<uint32_t>(r & 0xFF) << 16) |
(static_cast<uint32_t>(g & 0xFF) << 8) |
static_cast<uint32_t>(b & 0xFF);
HAL_SetJoystickLeds(m_port, value);
}
void GenericHID::SetRumble(RumbleType type, double value) {
@@ -167,10 +167,12 @@ void GenericHID::SetRumble(RumbleType type, double value) {
m_leftRumble = rumbleValue;
} else if (type == kRightRumble) {
m_rightRumble = rumbleValue;
} else {
m_leftRumble = rumbleValue;
m_rightRumble = rumbleValue;
} else if (type == kLeftTriggerRumble) {
m_leftTriggerRumble = rumbleValue;
} else if (type == kRightTriggerRumble) {
m_rightTriggerRumble = rumbleValue;
}
HAL_SetJoystickOutputs(m_port, m_outputs, m_leftRumble, m_rightRumble);
HAL_SetJoystickRumble(m_port, m_leftRumble, m_rightRumble,
m_leftTriggerRumble, m_rightTriggerRumble);
}