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https://github.com/wpilibsuite/allwpilib
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78 lines
2.7 KiB
C++
78 lines
2.7 KiB
C++
/*----------------------------------------------------------------------------*/
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/* Copyright (c) FIRST 2008. 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 JOYSTICK_H_
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#define JOYSTICK_H_
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#include "GenericHID.h"
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#include "ErrorBase.h"
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class DriverStation;
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/**
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* Handle input from standard Joysticks connected to the Driver Station.
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* This class handles standard input that comes from the Driver Station. Each time a value is requested
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* the most recent value is returned. There is a single class instance for each joystick and the mapping
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* of ports to hardware buttons depends on the code in the driver station.
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*/
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class Joystick : public GenericHID, public ErrorBase
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{
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public:
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static const uint32_t kDefaultXAxis = 1;
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static const uint32_t kDefaultYAxis = 2;
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static const uint32_t kDefaultZAxis = 3;
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static const uint32_t kDefaultTwistAxis = 4;
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static const uint32_t kDefaultThrottleAxis = 3;
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typedef enum
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{
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kXAxis, kYAxis, kZAxis, kTwistAxis, kThrottleAxis, kNumAxisTypes
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} AxisType;
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static const uint32_t kDefaultTriggerButton = 1;
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static const uint32_t kDefaultTopButton = 2;
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typedef enum
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{
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kTriggerButton, kTopButton, kNumButtonTypes
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} ButtonType;
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explicit Joystick(uint32_t port);
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Joystick(uint32_t port, uint32_t numAxisTypes, uint32_t numButtonTypes);
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virtual ~Joystick();
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uint32_t GetAxisChannel(AxisType axis);
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void SetAxisChannel(AxisType axis, uint32_t channel);
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virtual float GetX(JoystickHand hand = kRightHand) const override;
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virtual float GetY(JoystickHand hand = kRightHand) const override;
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virtual float GetZ() const override;
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virtual float GetTwist() const override;
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virtual float GetThrottle() const override;
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virtual float GetAxis(AxisType axis) const;
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float GetRawAxis(uint32_t axis) const override;
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virtual bool GetTrigger(JoystickHand hand = kRightHand) const override;
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virtual bool GetTop(JoystickHand hand = kRightHand) const override;
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virtual bool GetBumper(JoystickHand hand = kRightHand) const override;
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virtual bool GetRawButton(uint32_t button) const override;
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virtual int GetPOV(uint32_t pov = 1) const override;
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bool GetButton(ButtonType button) const;
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static Joystick* GetStickForPort(uint32_t port);
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virtual float GetMagnitude() const;
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virtual float GetDirectionRadians() const;
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virtual float GetDirectionDegrees() const;
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private:
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DISALLOW_COPY_AND_ASSIGN(Joystick);
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void InitJoystick(uint32_t numAxisTypes, uint32_t numButtonTypes);
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DriverStation *m_ds = nullptr;
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uint32_t m_port;
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uint32_t *m_axes = nullptr;
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uint32_t *m_buttons = nullptr;
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};
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#endif
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