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

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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
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50
wpilibc/src/test/native/cpp/GenericHIDTest.cpp
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@@ -17,9 +17,19 @@ TEST(GenericHIDTest, RumbleRange) {
for (int i = 0; i <= 100; i++) {
double rumbleValue = i / 100.0;
hid.SetRumble(RumbleType::kBothRumble, rumbleValue);
hid.SetRumble(RumbleType::kLeftRumble, rumbleValue);
EXPECT_NEAR(rumbleValue, sim.GetRumble(RumbleType::kLeftRumble), kEpsilon);
hid.SetRumble(RumbleType::kRightRumble, rumbleValue);
EXPECT_NEAR(rumbleValue, sim.GetRumble(RumbleType::kRightRumble), kEpsilon);
hid.SetRumble(RumbleType::kLeftTriggerRumble, rumbleValue);
EXPECT_NEAR(rumbleValue, sim.GetRumble(RumbleType::kLeftTriggerRumble),
kEpsilon);
hid.SetRumble(RumbleType::kRightTriggerRumble, rumbleValue);
EXPECT_NEAR(rumbleValue, sim.GetRumble(RumbleType::kRightTriggerRumble),
kEpsilon);
}
}
@@ -27,25 +37,45 @@ TEST(GenericHIDTest, RumbleTypes) {
GenericHID hid{0};
sim::GenericHIDSim sim{0};
// Make sure both are off
hid.SetRumble(RumbleType::kBothRumble, 0);
EXPECT_NEAR(0, sim.GetRumble(RumbleType::kBothRumble), kEpsilon);
// test both
hid.SetRumble(RumbleType::kBothRumble, 1);
EXPECT_NEAR(1, sim.GetRumble(RumbleType::kLeftRumble), kEpsilon);
EXPECT_NEAR(1, sim.GetRumble(RumbleType::kRightRumble), kEpsilon);
hid.SetRumble(RumbleType::kBothRumble, 0);
// Make sure all are off
hid.SetRumble(RumbleType::kLeftRumble, 0);
hid.SetRumble(RumbleType::kLeftTriggerRumble, 0);
hid.SetRumble(RumbleType::kRightRumble, 0);
hid.SetRumble(RumbleType::kRightTriggerRumble, 0);
EXPECT_NEAR(0, sim.GetRumble(RumbleType::kLeftRumble), kEpsilon);
EXPECT_NEAR(0, sim.GetRumble(RumbleType::kLeftTriggerRumble), kEpsilon);
EXPECT_NEAR(0, sim.GetRumble(RumbleType::kRightRumble), kEpsilon);
EXPECT_NEAR(0, sim.GetRumble(RumbleType::kRightTriggerRumble), kEpsilon);
// test left only
hid.SetRumble(RumbleType::kLeftRumble, 1);
EXPECT_NEAR(1, sim.GetRumble(RumbleType::kLeftRumble), kEpsilon);
EXPECT_NEAR(0, sim.GetRumble(RumbleType::kRightRumble), kEpsilon);
EXPECT_NEAR(0, sim.GetRumble(RumbleType::kLeftTriggerRumble), kEpsilon);
EXPECT_NEAR(0, sim.GetRumble(RumbleType::kRightTriggerRumble), kEpsilon);
hid.SetRumble(RumbleType::kLeftRumble, 0);
// test right only
hid.SetRumble(RumbleType::kRightRumble, 1);
EXPECT_NEAR(0, sim.GetRumble(RumbleType::kLeftRumble), kEpsilon);
EXPECT_NEAR(1, sim.GetRumble(RumbleType::kRightRumble), kEpsilon);
EXPECT_NEAR(0, sim.GetRumble(RumbleType::kLeftTriggerRumble), kEpsilon);
EXPECT_NEAR(0, sim.GetRumble(RumbleType::kRightTriggerRumble), kEpsilon);
hid.SetRumble(RumbleType::kRightRumble, 0);
// test left trigger only
hid.SetRumble(RumbleType::kLeftTriggerRumble, 1);
EXPECT_NEAR(0, sim.GetRumble(RumbleType::kLeftRumble), kEpsilon);
EXPECT_NEAR(0, sim.GetRumble(RumbleType::kRightRumble), kEpsilon);
EXPECT_NEAR(1, sim.GetRumble(RumbleType::kLeftTriggerRumble), kEpsilon);
EXPECT_NEAR(0, sim.GetRumble(RumbleType::kRightTriggerRumble), kEpsilon);
hid.SetRumble(RumbleType::kLeftTriggerRumble, 0);
// test right trigger only
hid.SetRumble(RumbleType::kRightTriggerRumble, 1);
EXPECT_NEAR(0, sim.GetRumble(RumbleType::kLeftRumble), kEpsilon);
EXPECT_NEAR(0, sim.GetRumble(RumbleType::kRightRumble), kEpsilon);
EXPECT_NEAR(0, sim.GetRumble(RumbleType::kLeftTriggerRumble), kEpsilon);
EXPECT_NEAR(1, sim.GetRumble(RumbleType::kRightTriggerRumble), kEpsilon);
hid.SetRumble(RumbleType::kRightTriggerRumble, 0);
}