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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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32
wpilibj/src/main/java/edu/wpi/first/wpilibj/GenericHID.java
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@@ -5,6 +5,7 @@
package edu.wpi.first.wpilibj;
import edu.wpi.first.hal.DriverStationJNI;
import edu.wpi.first.math.MathUtil;
import edu.wpi.first.wpilibj.event.BooleanEvent;
import edu.wpi.first.wpilibj.event.EventLoop;
import java.util.HashMap;
@@ -21,7 +22,8 @@ public class GenericHID {
/** Represents a rumble output on the JoyStick. */
public enum RumbleType {
kLeftRumble,
kRightRumble
kRightRumble,
kBothRumble
}
public enum HIDType {
@@ -397,16 +399,24 @@ public class GenericHID {
* @param value The normalized value (0 to 1) to set the rumble to
*/
public void setRumble(RumbleType type, double value) {
if (value < 0) {
value = 0;
} else if (value > 1) {
value = 1;
value = MathUtil.clamp(value, 0, 1);
short rumbleValue = (short) (value * 65535);
switch (type) {
case kLeftRumble:
this.m_leftRumble = rumbleValue;
break;
case kRightRumble:
this.m_rightRumble = rumbleValue;
break;
case kBothRumble:
default:
this.m_leftRumble = rumbleValue;
this.m_rightRumble = rumbleValue;
break;
}
if (type == RumbleType.kLeftRumble) {
m_leftRumble = (short) (value * 65535);
} else {
m_rightRumble = (short) (value * 65535);
}
DriverStationJNI.setJoystickOutputs((byte) m_port, m_outputs, m_leftRumble, m_rightRumble);
DriverStationJNI.setJoystickOutputs(
(byte) this.m_port, this.m_outputs, this.m_leftRumble, this.m_rightRumble);
}
}