mirror of
https://github.com/wpilibsuite/allwpilib
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d89b7dd412
The old headers were moved into folders because doing so avoids polluting the system include directories. Folder names were also normalized to lowercase.
134 lines
3.7 KiB
C++
134 lines
3.7 KiB
C++
/*----------------------------------------------------------------------------*/
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/* Copyright (c) 2008-2018 FIRST. 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 the root directory of */
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/* the project. */
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/*----------------------------------------------------------------------------*/
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#include "frc/Joystick.h"
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#include <cmath>
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#include <hal/HAL.h>
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#include "frc/DriverStation.h"
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#include "frc/WPIErrors.h"
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using namespace frc;
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constexpr double kPi = 3.14159265358979323846;
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Joystick::Joystick(int port) : GenericHID(port) {
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m_axes[Axis::kX] = kDefaultXChannel;
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m_axes[Axis::kY] = kDefaultYChannel;
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m_axes[Axis::kZ] = kDefaultZChannel;
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m_axes[Axis::kTwist] = kDefaultTwistChannel;
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m_axes[Axis::kThrottle] = kDefaultThrottleChannel;
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HAL_Report(HALUsageReporting::kResourceType_Joystick, port);
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}
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void Joystick::SetXChannel(int channel) { m_axes[Axis::kX] = channel; }
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void Joystick::SetYChannel(int channel) { m_axes[Axis::kY] = channel; }
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void Joystick::SetZChannel(int channel) { m_axes[Axis::kZ] = channel; }
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void Joystick::SetTwistChannel(int channel) { m_axes[Axis::kTwist] = channel; }
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void Joystick::SetThrottleChannel(int channel) {
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m_axes[Axis::kThrottle] = channel;
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}
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void Joystick::SetAxisChannel(AxisType axis, int channel) {
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m_axes[axis] = channel;
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}
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int Joystick::GetXChannel() const { return m_axes[Axis::kX]; }
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int Joystick::GetYChannel() const { return m_axes[Axis::kY]; }
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int Joystick::GetZChannel() const { return m_axes[Axis::kZ]; }
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int Joystick::GetTwistChannel() const { return m_axes[Axis::kTwist]; }
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int Joystick::GetThrottleChannel() const { return m_axes[Axis::kThrottle]; }
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double Joystick::GetX(JoystickHand hand) const {
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return GetRawAxis(m_axes[Axis::kX]);
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}
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double Joystick::GetY(JoystickHand hand) const {
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return GetRawAxis(m_axes[Axis::kY]);
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}
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double Joystick::GetZ() const { return GetRawAxis(m_axes[Axis::kZ]); }
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double Joystick::GetTwist() const { return GetRawAxis(m_axes[Axis::kTwist]); }
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double Joystick::GetThrottle() const {
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return GetRawAxis(m_axes[Axis::kThrottle]);
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}
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double Joystick::GetAxis(AxisType axis) const {
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switch (axis) {
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case kXAxis:
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return GetX();
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case kYAxis:
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return GetY();
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case kZAxis:
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return GetZ();
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case kTwistAxis:
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return GetTwist();
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case kThrottleAxis:
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return GetThrottle();
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default:
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wpi_setWPIError(BadJoystickAxis);
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return 0.0;
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}
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}
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bool Joystick::GetTrigger() const { return GetRawButton(Button::kTrigger); }
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bool Joystick::GetTriggerPressed() {
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return GetRawButtonPressed(Button::kTrigger);
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}
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bool Joystick::GetTriggerReleased() {
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return GetRawButtonReleased(Button::kTrigger);
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}
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bool Joystick::GetTop() const { return GetRawButton(Button::kTop); }
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bool Joystick::GetTopPressed() { return GetRawButtonPressed(Button::kTop); }
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bool Joystick::GetTopReleased() { return GetRawButtonReleased(Button::kTop); }
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Joystick* Joystick::GetStickForPort(int port) {
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static std::array<std::unique_ptr<Joystick>, DriverStation::kJoystickPorts>
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joysticks{};
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auto stick = joysticks[port].get();
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if (stick == nullptr) {
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joysticks[port] = std::make_unique<Joystick>(port);
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stick = joysticks[port].get();
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}
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return stick;
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}
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bool Joystick::GetButton(ButtonType button) const {
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int temp = button;
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return GetRawButton(static_cast<Button>(temp));
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}
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double Joystick::GetMagnitude() const {
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return std::sqrt(std::pow(GetX(), 2) + std::pow(GetY(), 2));
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}
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double Joystick::GetDirectionRadians() const {
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return std::atan2(GetX(), -GetY());
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}
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double Joystick::GetDirectionDegrees() const {
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return (180 / kPi) * GetDirectionRadians();
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}
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