mirror of
https://github.com/wpilibsuite/allwpilib
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69422dc063
This makes our APIs more consistent. With optimizations enabled, doubles are just as efficient as floats on ARMv7, so we should take advantage of the extra precision.
119 lines
3.1 KiB
C++
119 lines
3.1 KiB
C++
/*----------------------------------------------------------------------------*/
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/* Copyright (c) FIRST 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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#include "GenericHID.h"
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#include "DriverStation.h"
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using namespace frc;
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GenericHID::GenericHID(int port) : m_ds(DriverStation::GetInstance()) {
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m_port = port;
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}
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/**
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* Get the value of the axis.
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*
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* @param axis The axis to read, starting at 0.
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* @return The value of the axis.
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*/
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double GenericHID::GetRawAxis(int axis) const {
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return m_ds.GetStickAxis(m_port, axis);
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}
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/**
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* Get the button value (starting at button 1)
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*
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* The buttons are returned in a single 16 bit value with one bit representing
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* the state of each button. The appropriate button is returned as a boolean
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* value.
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*
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* @param button The button number to be read (starting at 1)
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* @return The state of the button.
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**/
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bool GenericHID::GetRawButton(int button) const {
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return m_ds.GetStickButton(m_port, button);
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}
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/**
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* Get the angle in degrees of a POV on the HID.
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*
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* The POV angles start at 0 in the up direction, and increase clockwise
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* (e.g. right is 90, upper-left is 315).
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*
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* @param pov The index of the POV to read (starting at 0)
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* @return the angle of the POV in degrees, or -1 if the POV is not pressed.
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*/
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int GenericHID::GetPOV(int pov) const { return 0; }
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/**
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* Get the number of POVs for the HID.
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*
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* @return the number of POVs for the current HID
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*/
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int GenericHID::GetPOVCount() const { return 0; }
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/**
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* Get the port number of the HID.
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*
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* @return The port number of the HID.
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*/
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int GenericHID::GetPort() const { return m_port; }
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/**
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* Get the type of the HID.
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*
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* @return the type of the HID.
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*/
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GenericHID::HIDType GenericHID::GetType() const { return HIDType::kUnknown; }
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/**
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* Get the name of the HID.
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*
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* @return the name of the HID.
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*/
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std::string GenericHID::GetName() const { return ""; }
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/**
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* Set a single HID output value for the HID.
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*
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* @param outputNumber The index of the output to set (1-32)
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* @param value The value to set the output to
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*/
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void GenericHID::SetOutput(int outputNumber, bool value) {
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m_outputs =
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(m_outputs & ~(1 << (outputNumber - 1))) | (value << (outputNumber - 1));
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}
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/**
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* Set all output values for the HID.
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*
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* @param value The 32 bit output value (1 bit for each output)
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*/
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void GenericHID::SetOutputs(int value) { m_outputs = value; }
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/**
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* Set the rumble output for the HID.
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*
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* The DS currently supports 2 rumble values, left rumble and right rumble.
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*
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* @param type Which rumble value to set
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* @param value The normalized value (0 to 1) to set the rumble to
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*/
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void GenericHID::SetRumble(RumbleType type, double value) {
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if (value < 0)
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value = 0;
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else if (value > 1)
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value = 1;
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if (type == kLeftRumble) {
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m_leftRumble = value * 65535;
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} else {
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m_rightRumble = value * 65535;
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}
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}
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