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https://github.com/wpilibsuite/allwpilib
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Move CameraServer and WPILib headers into their own folder
The old headers were moved into folders because doing so avoids polluting the system include directories. Folder names were also normalized to lowercase.
This commit is contained in:
Tyler Veness
committed by
Peter Johnson
Peter Johnson
parent
31ced30c1e
commit
d89b7dd412
291
wpilibc/src/main/native/include/frc/Joystick.h
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291
wpilibc/src/main/native/include/frc/Joystick.h
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/*----------------------------------------------------------------------------*/
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/* Copyright (c) 2008-2018 FIRST. All Rights Reserved. */
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/* Open Source Software - may be modified and shared by FRC teams. The code */
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/* must be accompanied by the FIRST BSD license file in the root directory of */
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/* the project. */
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/*----------------------------------------------------------------------------*/
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#pragma once
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#include <array>
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#include <wpi/deprecated.h>
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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 standard Joysticks connected to the Driver Station.
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*
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* This class handles standard input that comes from the Driver Station. Each
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* time a value is requested the most recent value is returned. There is a
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* single class instance for each joystick 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 Joystick : public GenericHID {
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public:
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static constexpr int kDefaultXChannel = 0;
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static constexpr int kDefaultYChannel = 1;
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static constexpr int kDefaultZChannel = 2;
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static constexpr int kDefaultTwistChannel = 2;
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static constexpr int kDefaultThrottleChannel = 3;
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WPI_DEPRECATED("Use kDefaultXChannel instead.")
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static constexpr int kDefaultXAxis = 0;
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WPI_DEPRECATED("Use kDefaultYChannel instead.")
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static constexpr int kDefaultYAxis = 1;
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WPI_DEPRECATED("Use kDefaultZChannel instead.")
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static constexpr int kDefaultZAxis = 2;
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WPI_DEPRECATED("Use kDefaultTwistChannel instead.")
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static constexpr int kDefaultTwistAxis = 2;
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WPI_DEPRECATED("Use kDefaultThrottleChannel instead.")
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static constexpr int kDefaultThrottleAxis = 3;
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enum AxisType { kXAxis, kYAxis, kZAxis, kTwistAxis, kThrottleAxis };
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enum ButtonType { kTriggerButton, kTopButton };
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/**
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* Construct an instance of a joystick.
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*
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* The joystick 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 joystick is plugged
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* into (0-5).
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*/
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explicit Joystick(int port);
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virtual ~Joystick() = default;
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Joystick(const Joystick&) = delete;
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Joystick& operator=(const Joystick&) = delete;
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/**
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* Set the channel associated with the X axis.
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*
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* @param channel The channel to set the axis to.
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*/
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void SetXChannel(int channel);
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/**
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* Set the channel associated with the Y axis.
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*
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* @param axis The axis to set the channel for.
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* @param channel The channel to set the axis to.
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*/
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void SetYChannel(int channel);
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/**
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* Set the channel associated with the Z axis.
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*
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* @param axis The axis to set the channel for.
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* @param channel The channel to set the axis to.
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*/
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void SetZChannel(int channel);
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/**
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* Set the channel associated with the twist axis.
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*
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* @param axis The axis to set the channel for.
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* @param channel The channel to set the axis to.
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*/
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void SetTwistChannel(int channel);
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/**
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* Set the channel associated with the throttle axis.
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*
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* @param axis The axis to set the channel for.
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* @param channel The channel to set the axis to.
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*/
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void SetThrottleChannel(int channel);
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/**
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* Set the channel associated with a specified axis.
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*
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* @param axis The axis to set the channel for.
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* @param channel The channel to set the axis to.
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*/
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WPI_DEPRECATED("Use the more specific axis channel setter functions.")
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void SetAxisChannel(AxisType axis, int channel);
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/**
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* Get the channel currently associated with the X axis.
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*
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* @return The channel for the axis.
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*/
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int GetXChannel() const;
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/**
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* Get the channel currently associated with the Y axis.
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*
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* @return The channel for the axis.
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*/
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int GetYChannel() const;
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/**
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* Get the channel currently associated with the Z axis.
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*
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* @return The channel for the axis.
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*/
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int GetZChannel() const;
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/**
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* Get the channel currently associated with the twist axis.
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*
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* @return The channel for the axis.
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*/
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int GetTwistChannel() const;
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/**
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* Get the channel currently associated with the throttle axis.
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*
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* @return The channel for the axis.
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*/
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int GetThrottleChannel() const;
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/**
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* Get the X value of the joystick.
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*
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* This depends on the mapping of the joystick connected to the current port.
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*
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* @param hand This parameter is ignored for the Joystick class and is only
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* here to complete the GenericHID interface.
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*/
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double GetX(JoystickHand hand = kRightHand) const override;
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/**
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* Get the Y value of the joystick.
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*
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* This depends on the mapping of the joystick connected to the current port.
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*
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* @param hand This parameter is ignored for the Joystick class and is only
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* here to complete the GenericHID interface.
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*/
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double GetY(JoystickHand hand = kRightHand) const override;
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/**
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* Get the Z value of the current joystick.
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*
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* This depends on the mapping of the joystick connected to the current port.
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*/
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double GetZ() const;
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/**
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* Get the twist value of the current joystick.
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*
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* This depends on the mapping of the joystick connected to the current port.
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*/
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double GetTwist() const;
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/**
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* Get the throttle value of the current joystick.
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*
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* This depends on the mapping of the joystick connected to the current port.
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*/
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double GetThrottle() const;
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/**
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* For the current joystick, return the axis determined by the argument.
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*
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* This is for cases where the joystick axis is returned programatically,
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* otherwise one of the previous functions would be preferable (for example
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* GetX()).
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*
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* @param axis The axis to read.
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* @return The value of the axis.
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*/
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WPI_DEPRECATED("Use the more specific axis channel getter functions.")
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double GetAxis(AxisType axis) const;
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/**
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* Read the state of the trigger on the joystick.
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*
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* Look up which button has been assigned to the trigger and read its state.
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*
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* @return The state of the trigger.
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*/
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bool GetTrigger() const;
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/**
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* Whether the trigger 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 GetTriggerPressed();
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/**
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* Whether the trigger 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 GetTriggerReleased();
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/**
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* Read the state of the top button on the joystick.
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*
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* Look up which button has been assigned to the top and read its state.
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*
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* @return The state of the top button.
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*/
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bool GetTop() const;
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/**
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* Whether the top 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 GetTopPressed();
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/**
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* Whether the top 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 GetTopReleased();
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WPI_DEPRECATED("Use Joystick instances instead.")
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static Joystick* GetStickForPort(int port);
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/**
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* Get buttons based on an enumerated type.
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*
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* The button type will be looked up in the list of buttons and then read.
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*
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* @param button The type of button to read.
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* @return The state of the button.
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*/
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WPI_DEPRECATED("Use the more specific button getter functions.")
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bool GetButton(ButtonType button) const;
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/**
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* Get the magnitude of the direction vector formed by the joystick's
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* current position relative to its origin.
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*
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* @return The magnitude of the direction vector
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*/
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double GetMagnitude() const;
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/**
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* Get the direction of the vector formed by the joystick and its origin
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* in radians.
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*
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* @return The direction of the vector in radians
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*/
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double GetDirectionRadians() const;
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/**
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* Get the direction of the vector formed by the joystick and its origin
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* in degrees.
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*
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* @return The direction of the vector in degrees
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*/
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double GetDirectionDegrees() const;
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private:
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enum Axis { kX, kY, kZ, kTwist, kThrottle, kNumAxes };
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enum Button { kTrigger = 1, kTop = 2 };
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std::array<int, Axis::kNumAxes> m_axes;
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};
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} // namespace frc
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