mirror of
https://github.com/wpilibsuite/allwpilib
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83 lines
2.4 KiB
Java
83 lines
2.4 KiB
Java
// Copyright (c) FIRST and other WPILib contributors.
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// Open Source Software; you can modify and/or share it under the terms of
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// the WPILib BSD license file in the root directory of this project.
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package org.wpilib.driverstation;
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import java.util.Optional;
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import org.wpilib.math.geometry.Rotation2d;
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import org.wpilib.system.Timer;
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/** A controller POV direction. */
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public enum POVDirection {
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/** POV center. */
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CENTER(0x00),
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/** POV up. */
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UP(0x01),
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/** POV up right. */
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UP_RIGHT(0x01 | 0x02),
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/** POV right. */
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RIGHT(0x02),
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/** POV down right. */
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DOWN_RIGHT(0x02 | 0x04),
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/** POV down. */
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DOWN(0x04),
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/** POV down left. */
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DOWN_LEFT(0x04 | 0x08),
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/** POV left. */
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LEFT(0x08),
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/** POV up left. */
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UP_LEFT(0x01 | 0x08);
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private static final double INVALID_POV_VALUE_INTERVAL = 1.0;
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private static double s_nextMessageTime;
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/**
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* Converts a byte value into a POVDirection enum value.
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*
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* @param value The byte value to convert.
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* @return The corresponding POVDirection enum value.
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* @throws IllegalArgumentException If value does not correspond to a POVDirection.
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*/
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public static POVDirection of(byte value) {
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for (var direction : values()) {
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if (direction.value == value) {
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return direction;
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}
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}
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double currentTime = Timer.getTimestamp();
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if (currentTime > s_nextMessageTime) {
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DriverStationErrors.reportError("Invalid POV value " + value + "!", false);
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s_nextMessageTime = currentTime + INVALID_POV_VALUE_INTERVAL;
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}
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return CENTER;
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}
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/** The corresponding HAL value. */
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public final byte value;
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POVDirection(int value) {
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this.value = (byte) value;
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}
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/**
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* Gets the angle of a POVDirection.
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*
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* @return The angle clockwise from straight up, or Optional.empty() if this POVDirection is
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* CENTER.
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*/
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public Optional<Rotation2d> getAngle() {
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return switch (this) {
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case CENTER -> Optional.empty();
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case UP -> Optional.of(Rotation2d.fromDegrees(0));
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case UP_RIGHT -> Optional.of(Rotation2d.fromDegrees(45));
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case RIGHT -> Optional.of(Rotation2d.fromDegrees(90));
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case DOWN_RIGHT -> Optional.of(Rotation2d.fromDegrees(135));
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case DOWN -> Optional.of(Rotation2d.fromDegrees(180));
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case DOWN_LEFT -> Optional.of(Rotation2d.fromDegrees(225));
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case LEFT -> Optional.of(Rotation2d.fromDegrees(270));
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case UP_LEFT -> Optional.of(Rotation2d.fromDegrees(315));
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};
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}
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}
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