mirror of
https://github.com/wpilibsuite/allwpilib
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bb50f4b134
Made a toplevel directory for C++ and C++ tests Change-Id: I4bc2074a7036ec7fe79568b411637a5bee9eb5b3 Added the C++ testing framework and one test Change-Id: I1e80a1e16b251a49666820a9d4c8caa025da9785
57 lines
1.7 KiB
C++
57 lines
1.7 KiB
C++
/*----------------------------------------------------------------------------*/
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/* Copyright (c) FIRST 2011. 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 $(WIND_BASE)/WPILib. */
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/*----------------------------------------------------------------------------*/
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#pragma once
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#include "ErrorBase.h"
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#include "GenericHID.h"
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/**
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* Handles input from the Joystick data sent by the FRC Kinect Server
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* when used with a Kinect device connected to the Driver Station.
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* Each time a value is requested the most recent value is returned.
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* Default gestures embedded in the FRC Kinect Server are described
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* in the document Getting Started with Microsoft Kinect for FRC.
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*/
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class KinectStick : public GenericHID, public ErrorBase
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{
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public:
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explicit KinectStick(int id);
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virtual float GetX(JoystickHand hand = kRightHand);
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virtual float GetY(JoystickHand hand = kRightHand);
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virtual float GetZ();
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virtual float GetTwist();
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virtual float GetThrottle();
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virtual float GetRawAxis(uint32_t axis);
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virtual bool GetTrigger(JoystickHand hand = kRightHand);
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virtual bool GetTop(JoystickHand hand = kRightHand);
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virtual bool GetBumper(JoystickHand hand = kRightHand);
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virtual bool GetRawButton(uint32_t button);
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private:
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void GetData();
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float ConvertRawToFloat(int8_t charValue);
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typedef union
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{
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struct
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{
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uint8_t size;
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uint8_t id;
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struct
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{
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unsigned char axis[6];
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unsigned short buttons;
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} rawSticks[2];
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} formatted;
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char data[18];
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} KinectStickData;
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int m_id;
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static uint32_t _recentPacketNumber;
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static KinectStickData _sticks;
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};
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