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https://github.com/wpilibsuite/allwpilib
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69d9ad70ab
This is the changes made by Patrick Plenefisch converting the native code to use CMake and the CMake Maven Plugin, as opposed to the native Maven plugin. This is to allow for compatibility with newer versions of the GCC toolchain. All the cpp sources were moved from maven style directories to cpp style directories for CMake. Change-Id: I67f5e3608948f37c83b0990d232105a3784f8593
62 lines
1.7 KiB
C++
62 lines
1.7 KiB
C++
/*----------------------------------------------------------------------------*/
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/* Copyright (c) FIRST 2011. 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 $(WIND_BASE)/WPILib. */
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/*----------------------------------------------------------------------------*/
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#ifndef __KINECT_STICK_H__
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#define __KINECT_STICK_H__
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#include "ErrorBase.h"
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#include "GenericHID.h"
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/**
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* Handles input from the Joystick data sent by the FRC Kinect Server
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* when used with a Kinect device connected to the Driver Station.
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* Each time a value is requested the most recent value is returned.
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* Default gestures embedded in the FRC Kinect Server are described
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* in the document Getting Started with Microsoft Kinect for FRC.
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*/
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class KinectStick : public GenericHID, public ErrorBase
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{
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public:
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explicit KinectStick(int id);
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virtual float GetX(JoystickHand hand = kRightHand);
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virtual float GetY(JoystickHand hand = kRightHand);
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virtual float GetZ();
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virtual float GetTwist();
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virtual float GetThrottle();
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virtual float GetRawAxis(uint32_t axis);
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virtual bool GetTrigger(JoystickHand hand = kRightHand);
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virtual bool GetTop(JoystickHand hand = kRightHand);
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virtual bool GetBumper(JoystickHand hand = kRightHand);
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virtual bool GetRawButton(uint32_t button);
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private:
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void GetData();
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float ConvertRawToFloat(int8_t charValue);
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typedef union
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{
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struct
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{
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uint8_t size;
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uint8_t id;
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struct
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{
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unsigned char axis[6];
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unsigned short buttons;
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} rawSticks[2];
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} formatted;
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char data[18];
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} KinectStickData;
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int m_id;
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static uint32_t _recentPacketNumber;
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static KinectStickData _sticks;
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};
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#endif
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