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https://github.com/wpilibsuite/allwpilib
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103 lines
3.3 KiB
C++
103 lines
3.3 KiB
C++
/*----------------------------------------------------------------------------*/
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/* Copyright (c) FIRST 2008. 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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#ifndef JOYSTICK_H_
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#define JOYSTICK_H_
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#include <cstdint>
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#include "GenericHID.h"
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#include "ErrorBase.h"
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class DriverStation;
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/**
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* Handle input from standard Joysticks connected to the Driver Station.
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* This class handles standard input that comes from the Driver Station. Each time a value is requested
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* the most recent value is returned. There is a single class instance for each joystick and the mapping
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* of ports to hardware buttons depends on the code in the driver station.
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*/
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class Joystick : public GenericHID, public ErrorBase
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{
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public:
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static const uint32_t kDefaultXAxis = 0;
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static const uint32_t kDefaultYAxis = 1;
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static const uint32_t kDefaultZAxis = 2;
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static const uint32_t kDefaultTwistAxis = 2;
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static const uint32_t kDefaultThrottleAxis = 3;
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typedef enum
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{
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kXAxis, kYAxis, kZAxis, kTwistAxis, kThrottleAxis, kNumAxisTypes
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} AxisType;
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static const uint32_t kDefaultTriggerButton = 1;
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static const uint32_t kDefaultTopButton = 2;
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typedef enum
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{
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kTriggerButton, kTopButton, kNumButtonTypes
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} ButtonType;
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typedef enum
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{
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kLeftRumble, kRightRumble
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} RumbleType;
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typedef enum
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{
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kUnknown = -1, kXInputUnknown = 0, kXInputGamepad = 1, kXInputWheel = 2, kXInputArcadeStick = 3, kXInputFlightStick = 4, kXInputDancePad = 5, kXInputGuitar = 6, kXInputGuitar2 = 7,
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kXInputDrumKit = 8, kXInputGuitar3 = 11, kXInputArcadePad = 19, kHIDJoystick = 20, kHIDGamepad = 21, kHIDDriving = 22, kHIDFlight = 23, kHID1stPerson = 24
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} HIDType;
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explicit Joystick(uint32_t port);
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Joystick(uint32_t port, uint32_t numAxisTypes, uint32_t numButtonTypes);
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virtual ~Joystick();
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uint32_t GetAxisChannel(AxisType axis);
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void SetAxisChannel(AxisType axis, uint32_t channel);
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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 GetAxis(AxisType axis);
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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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virtual int GetPOV(uint32_t pov = 0);
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bool GetButton(ButtonType button);
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static Joystick* GetStickForPort(uint32_t port);
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virtual float GetMagnitude();
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virtual float GetDirectionRadians();
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virtual float GetDirectionDegrees();
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bool GetIsXbox();
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Joystick::HIDType GetType();
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std::string GetName();
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int GetAxisType(uint8_t axis);
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int GetAxisCount();
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int GetButtonCount();
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int GetPOVCount();
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void SetRumble(RumbleType type, float value);
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void SetOutput(uint8_t outputNumber, bool value);
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void SetOutputs(uint32_t value);
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private:
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DISALLOW_COPY_AND_ASSIGN(Joystick);
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void InitJoystick(uint32_t numAxisTypes, uint32_t numButtonTypes);
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DriverStation *m_ds;
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uint32_t m_port;
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uint32_t *m_axes;
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uint32_t *m_buttons;
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uint32_t m_outputs;
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uint16_t m_leftRumble;
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uint16_t m_rightRumble;
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};
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#endif
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