mirror of
https://github.com/wpilibsuite/allwpilib
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143 lines
3.8 KiB
C++
143 lines
3.8 KiB
C++
/*----------------------------------------------------------------------------*/
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/* Copyright (c) 2016-2017 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 "XboxController.h"
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#include <HAL/HAL.h>
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#include "DriverStation.h"
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using namespace frc;
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/**
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* Construct an instance of an Xbox controller.
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*
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* The joystick index is the USB port on the Driver Station.
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*
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* @param port The port on the Driver Station that the joystick is plugged into
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* (0-5).
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*/
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XboxController::XboxController(int port)
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: GamepadBase(port), m_ds(DriverStation::GetInstance()) {
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// HAL_Report(HALUsageReporting::kResourceType_XboxController, port);
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HAL_Report(HALUsageReporting::kResourceType_Joystick, port);
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}
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/**
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* Get the X axis value of the controller.
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*
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* @param hand Side of controller whose value should be returned.
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*/
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double XboxController::GetX(JoystickHand hand) const {
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if (hand == kLeftHand) {
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return GetRawAxis(0);
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} else {
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return GetRawAxis(4);
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}
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}
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/**
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* Get the Y axis value of the controller.
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*
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* @param hand Side of controller whose value should be returned.
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*/
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double XboxController::GetY(JoystickHand hand) const {
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if (hand == kLeftHand) {
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return GetRawAxis(1);
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} else {
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return GetRawAxis(5);
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}
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}
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/**
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* Read the value of the bumper button on the controller.
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*
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* @param hand Side of controller whose value should be returned.
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*/
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bool XboxController::GetBumper(JoystickHand hand) const {
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if (hand == kLeftHand) {
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return GetRawButton(5);
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} else {
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return GetRawButton(6);
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}
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}
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/**
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* Read the value of the stick button on the controller.
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*
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* @param hand Side of controller whose value should be returned.
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* @return The state of the button.
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*/
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bool XboxController::GetStickButton(JoystickHand hand) const {
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if (hand == kLeftHand) {
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return GetRawButton(9);
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} else {
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return GetRawButton(10);
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}
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}
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/**
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* Get the trigger axis value of the controller.
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*
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* @param hand Side of controller whose value should be returned.
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*/
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double XboxController::GetTriggerAxis(JoystickHand hand) const {
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if (hand == kLeftHand) {
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return GetRawAxis(2);
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} else {
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return GetRawAxis(3);
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}
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}
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/**
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* Read the value of the A button on the controller.
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*
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* @param hand Side of controller whose value should be returned.
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* @return The state of the button.
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*/
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bool XboxController::GetAButton() const { return GetRawButton(1); }
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/**
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* Read the value of the B button on the controller.
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*
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* @param hand Side of controller whose value should be returned.
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* @return The state of the button.
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*/
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bool XboxController::GetBButton() const { return GetRawButton(2); }
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/**
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* Read the value of the X button on the controller.
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*
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* @param hand Side of controller whose value should be returned.
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* @return The state of the button.
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*/
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bool XboxController::GetXButton() const { return GetRawButton(3); }
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/**
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* Read the value of the Y button on the controller.
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*
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* @param hand Side of controller whose value should be returned.
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* @return The state of the button.
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*/
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bool XboxController::GetYButton() const { return GetRawButton(4); }
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/**
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* Read the value of the back button on the controller.
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*
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* @param hand Side of controller whose value should be returned.
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* @return The state of the button.
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*/
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bool XboxController::GetBackButton() const { return GetRawButton(7); }
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/**
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* Read the value of the start button on the controller.
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*
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* @param hand Side of controller whose value should be returned.
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* @return The state of the button.
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*/
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bool XboxController::GetStartButton() const { return GetRawButton(8); }
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