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https://github.com/wpilibsuite/allwpilib
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80 lines
2.7 KiB
C++
80 lines
2.7 KiB
C++
/*----------------------------------------------------------------------------*/
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/* Copyright (c) FIRST 2008-2016. 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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#pragma once
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#include <memory>
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#include "ErrorBase.h"
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#include "GenericHID.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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*
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* This class handles standard input that comes from the Driver Station. Each
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* time a value is requested the most recent value is returned. There is a
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* single class instance for each joystick and the mapping of ports to hardware
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* 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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public:
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static const int kDefaultXAxis = 1;
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static const int kDefaultYAxis = 2;
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static const int kDefaultZAxis = 3;
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static const int kDefaultTwistAxis = 4;
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static const int kDefaultThrottleAxis = 3;
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typedef enum {
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kXAxis,
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kYAxis,
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kZAxis,
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kTwistAxis,
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kThrottleAxis,
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kNumAxisTypes
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} AxisType;
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static const int kDefaultTriggerButton = 1;
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static const int kDefaultTopButton = 2;
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typedef enum { kTriggerButton, kTopButton, kNumButtonTypes } ButtonType;
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explicit Joystick(int port);
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Joystick(int port, int numAxisTypes, int numButtonTypes);
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virtual ~Joystick() = default;
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Joystick(const Joystick&) = delete;
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Joystick& operator=(const Joystick&) = delete;
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int GetAxisChannel(AxisType axis);
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void SetAxisChannel(AxisType axis, int channel);
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float GetX(JoystickHand hand = kRightHand) const override;
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float GetY(JoystickHand hand = kRightHand) const override;
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float GetZ() const override;
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float GetTwist() const override;
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float GetThrottle() const override;
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virtual float GetAxis(AxisType axis) const;
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float GetRawAxis(int axis) const override;
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bool GetTrigger(JoystickHand hand = kRightHand) const override;
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bool GetTop(JoystickHand hand = kRightHand) const override;
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bool GetBumper(JoystickHand hand = kRightHand) const override;
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bool GetRawButton(int button) const override;
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int GetPOV(int pov = 1) const override;
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bool GetButton(ButtonType button) const;
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static Joystick* GetStickForPort(int 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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DriverStation& m_ds;
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int m_port;
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std::unique_ptr<int[]> m_axes;
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std::unique_ptr<int[]> m_buttons;
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};
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