mirror of
https://github.com/wpilibsuite/allwpilib
synced 2026-06-22 01:11:42 +00:00
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.
89 lines
2.7 KiB
C++
89 lines
2.7 KiB
C++
/*----------------------------------------------------------------------------*/
|
|
/* Copyright (c) FIRST 2008-2016. All Rights Reserved. */
|
|
/* Open Source Software - may be modified and shared by FRC teams. The code */
|
|
/* must be accompanied by the FIRST BSD license file in the root directory of */
|
|
/* the project. */
|
|
/*----------------------------------------------------------------------------*/
|
|
|
|
#pragma once
|
|
|
|
#include <stdint.h>
|
|
|
|
#include <memory>
|
|
#include <vector>
|
|
|
|
#include "ErrorBase.h"
|
|
#include "JoystickBase.h"
|
|
|
|
namespace frc {
|
|
|
|
class DriverStation;
|
|
|
|
/**
|
|
* Handle input from standard Joysticks connected to the Driver Station.
|
|
* This class handles standard input that comes from the Driver Station. Each
|
|
* time a value is requested the most recent value is returned. There is a
|
|
* single class instance for each joystick and the mapping of ports to hardware
|
|
* buttons depends on the code in the Driver Station.
|
|
*/
|
|
class Joystick : public JoystickBase, public ErrorBase {
|
|
public:
|
|
static const int kDefaultXAxis = 0;
|
|
static const int kDefaultYAxis = 1;
|
|
static const int kDefaultZAxis = 2;
|
|
static const int kDefaultTwistAxis = 2;
|
|
static const int kDefaultThrottleAxis = 3;
|
|
|
|
typedef enum {
|
|
kXAxis,
|
|
kYAxis,
|
|
kZAxis,
|
|
kTwistAxis,
|
|
kThrottleAxis,
|
|
kNumAxisTypes
|
|
} AxisType;
|
|
|
|
static const int kDefaultTriggerButton = 1;
|
|
static const int kDefaultTopButton = 2;
|
|
|
|
typedef enum { kTriggerButton, kTopButton, kNumButtonTypes } ButtonType;
|
|
|
|
explicit Joystick(int port);
|
|
Joystick(int port, int numAxisTypes, int numButtonTypes);
|
|
virtual ~Joystick() = default;
|
|
|
|
Joystick(const Joystick&) = delete;
|
|
Joystick& operator=(const Joystick&) = delete;
|
|
|
|
int GetAxisChannel(AxisType axis) const;
|
|
void SetAxisChannel(AxisType axis, int channel);
|
|
|
|
double GetX(JoystickHand hand = kRightHand) const override;
|
|
double GetY(JoystickHand hand = kRightHand) const override;
|
|
double GetZ(JoystickHand hand = kRightHand) const override;
|
|
double GetTwist() const override;
|
|
double GetThrottle() const override;
|
|
virtual double GetAxis(AxisType axis) const;
|
|
|
|
bool GetTrigger(JoystickHand hand = kRightHand) const override;
|
|
bool GetTop(JoystickHand hand = kRightHand) const override;
|
|
bool GetButton(ButtonType button) const;
|
|
static Joystick* GetStickForPort(int port);
|
|
|
|
virtual double GetMagnitude() const;
|
|
virtual double GetDirectionRadians() const;
|
|
virtual double GetDirectionDegrees() const;
|
|
|
|
int GetAxisType(int axis) const;
|
|
|
|
int GetAxisCount() const;
|
|
int GetButtonCount() const;
|
|
|
|
private:
|
|
DriverStation& m_ds;
|
|
std::vector<int> m_axes;
|
|
std::vector<int> m_buttons;
|
|
};
|
|
|
|
} // namespace frc
|