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[wpilib] GenericHID: Add rumble both option (#4843)

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This commit is contained in:
Sriman Achanta
2022-12-24 14:28:52 -05:00
committed by GitHub
parent 8aa9dbfa90
commit e84dbfede0
3 changed files with 31 additions and 19 deletions
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16
wpilibc/src/main/native/cpp/GenericHID.cpp
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@@ -134,15 +134,17 @@ void GenericHID::SetOutputs(int value) {
}
void GenericHID::SetRumble(RumbleType type, double value) {
if (value < 0) {
value = 0;
} else if (value > 1) {
value = 1;
}
value = std::clamp(value, 0.0, 1.0);
double rumbleValue = value * 65535;
if (type == kLeftRumble) {
m_leftRumble = value * 65535;
m_leftRumble = rumbleValue;
} else if (type == kRightRumble) {
m_rightRumble = rumbleValue;
} else {
m_rightRumble = value * 65535;
m_leftRumble = rumbleValue;
m_rightRumble = rumbleValue;
}
HAL_SetJoystickOutputs(m_port, m_outputs, m_leftRumble, m_rightRumble);
}

2
wpilibc/src/main/native/include/frc/GenericHID.h
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@@ -23,7 +23,7 @@ class EventLoop;
*/
class GenericHID {
public:
enum RumbleType { kLeftRumble, kRightRumble };
enum RumbleType { kLeftRumble, kRightRumble, kBothRumble };
enum HIDType {
kUnknown = -1,