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Implement Joystick Outputs and Rumble (fixes artf3807)

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Change-Id: I7e2fa3990f47b6c51ae498035878a29c02817c1b
This commit is contained in:
Kevin O'Connor
2014-12-05 12:24:50 -05:00
parent 5893d28f39
commit dac04cb4a2
7 changed files with 153 additions and 1 deletions
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40
wpilibc/wpilibC++Devices/src/Joystick.cpp
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@@ -31,6 +31,9 @@ Joystick::Joystick(uint32_t port)
, m_port (port)
, m_axes (NULL)
, m_buttons (NULL)
, m_outputs (0)
, m_leftRumble (0)
, m_rightRumble (0)
{
InitJoystick(kNumAxisTypes, kNumButtonTypes);
@@ -305,7 +308,7 @@ float Joystick::GetDirectionRadians(){
* Get the direction of the vector formed by the joystick and its origin
* in degrees
*
* uses acos(-1) to represent Pi due to absence of readily accessable Pi
* uses acos(-1) to represent Pi due to absence of readily accessible Pi
* constant in C++
*
* @return The direction of the vector in degrees
@@ -313,3 +316,38 @@ float Joystick::GetDirectionRadians(){
float Joystick::GetDirectionDegrees(){
return (180/acos(-1))*GetDirectionRadians();
}
/**
* Set the rumble output for the joystick. The DS currently supports 2 rumble values,
* left rumble and right rumble
* @param type Which rumble value to set
* @param value The normalized value (0 to 1) to set the rumble to
*/
void Joystick::SetRumble(RumbleType type, float value) {
if (type == kLeftRumble)
m_leftRumble = value*65535;
else
m_rightRumble = value*65535;
HALSetJoystickOutputs(m_port, m_outputs, m_leftRumble, m_rightRumble);
}
/**
* Set a single HID output value for the joystick.
* @param outputNumber The index of the output to set (1-32)
* @param value The value to set the output to
*/
void Joystick::SetOutput(uint8_t outputNumber, bool value) {
m_outputs = (m_outputs & ~(1 << (outputNumber-1))) | (value << (outputNumber-1));
HALSetJoystickOutputs(m_port, m_outputs, m_leftRumble, m_rightRumble);
}
/**
* Set all HID output values for the joystick.
* @param value The 32 bit output value (1 bit for each output)
*/
void Joystick::SetOutputs(uint32_t value) {
m_outputs = value;
HALSetJoystickOutputs(m_port, m_outputs, m_leftRumble, m_rightRumble);
}