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https://github.com/wpilibsuite/allwpilib
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d89b7dd412
The old headers were moved into folders because doing so avoids polluting the system include directories. Folder names were also normalized to lowercase.
86 lines
2.5 KiB
C++
86 lines
2.5 KiB
C++
/*----------------------------------------------------------------------------*/
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/* Copyright (c) 2016-2018 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 "frc/GenericHID.h"
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#include <hal/HAL.h>
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#include "frc/DriverStation.h"
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#include "frc/WPIErrors.h"
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using namespace frc;
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GenericHID::GenericHID(int port) : m_ds(DriverStation::GetInstance()) {
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if (port >= DriverStation::kJoystickPorts) {
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wpi_setWPIError(BadJoystickIndex);
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}
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m_port = port;
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}
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bool GenericHID::GetRawButton(int button) const {
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return m_ds.GetStickButton(m_port, button);
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}
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bool GenericHID::GetRawButtonPressed(int button) {
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return m_ds.GetStickButtonPressed(m_port, button);
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}
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bool GenericHID::GetRawButtonReleased(int button) {
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return m_ds.GetStickButtonReleased(m_port, button);
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}
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double GenericHID::GetRawAxis(int axis) const {
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return m_ds.GetStickAxis(m_port, axis);
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}
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int GenericHID::GetPOV(int pov) const { return m_ds.GetStickPOV(m_port, pov); }
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int GenericHID::GetAxisCount() const { return m_ds.GetStickAxisCount(m_port); }
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int GenericHID::GetPOVCount() const { return m_ds.GetStickPOVCount(m_port); }
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int GenericHID::GetButtonCount() const {
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return m_ds.GetStickButtonCount(m_port);
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}
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GenericHID::HIDType GenericHID::GetType() const {
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return static_cast<HIDType>(m_ds.GetJoystickType(m_port));
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}
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std::string GenericHID::GetName() const { return m_ds.GetJoystickName(m_port); }
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int GenericHID::GetAxisType(int axis) const {
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return m_ds.GetJoystickAxisType(m_port, axis);
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}
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int GenericHID::GetPort() const { return m_port; }
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void GenericHID::SetOutput(int outputNumber, bool value) {
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m_outputs =
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(m_outputs & ~(1 << (outputNumber - 1))) | (value << (outputNumber - 1));
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HAL_SetJoystickOutputs(m_port, m_outputs, m_leftRumble, m_rightRumble);
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}
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void GenericHID::SetOutputs(int value) {
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m_outputs = value;
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HAL_SetJoystickOutputs(m_port, m_outputs, m_leftRumble, m_rightRumble);
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}
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void GenericHID::SetRumble(RumbleType type, double value) {
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if (value < 0)
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value = 0;
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else if (value > 1)
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value = 1;
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if (type == kLeftRumble) {
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m_leftRumble = value * 65535;
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} else {
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m_rightRumble = value * 65535;
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}
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HAL_SetJoystickOutputs(m_port, m_outputs, m_leftRumble, m_rightRumble);
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}
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