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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.
76 lines
1.9 KiB
C++
76 lines
1.9 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 <stdint.h>
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#include <string>
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namespace frc {
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class DriverStation;
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/**
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* GenericHID Interface.
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*/
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class GenericHID {
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public:
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typedef enum { kLeftRumble, kRightRumble } RumbleType;
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typedef enum {
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kUnknown = -1,
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kXInputUnknown = 0,
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kXInputGamepad = 1,
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kXInputWheel = 2,
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kXInputArcadeStick = 3,
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kXInputFlightStick = 4,
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kXInputDancePad = 5,
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kXInputGuitar = 6,
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kXInputGuitar2 = 7,
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kXInputDrumKit = 8,
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kXInputGuitar3 = 11,
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kXInputArcadePad = 19,
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kHIDJoystick = 20,
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kHIDGamepad = 21,
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kHIDDriving = 22,
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kHIDFlight = 23,
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kHID1stPerson = 24
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} HIDType;
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enum JoystickHand { kLeftHand = 0, kRightHand = 1 };
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explicit GenericHID(int port);
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virtual ~GenericHID() = default;
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virtual double GetX(JoystickHand hand = kRightHand) const = 0;
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virtual double GetY(JoystickHand hand = kRightHand) const = 0;
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virtual double GetRawAxis(int axis) const;
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bool GetRawButton(int button) const;
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int GetPOV(int pov = 0) const;
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int GetPOVCount() const;
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int GetPort() const;
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GenericHID::HIDType GetType() const;
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std::string GetName() const;
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void SetOutput(int outputNumber, bool value);
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void SetOutputs(int value);
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void SetRumble(RumbleType type, double value);
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private:
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DriverStation& m_ds;
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int m_port;
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int m_outputs = 0;
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uint16_t m_leftRumble = 0;
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uint16_t m_rightRumble = 0;
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};
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} // namespace frc
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