mirror of
https://github.com/wpilibsuite/allwpilib
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129 lines
2.8 KiB
C++
129 lines
2.8 KiB
C++
// Copyright (c) FIRST and other WPILib contributors.
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// Open Source Software; you can modify and/or share it under the terms of
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// the WPILib BSD license file in the root directory of this project.
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#include "frc/Joystick.h"
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#include <cmath>
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#include <numbers>
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#include <hal/FRCUsageReporting.h>
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#include "frc/event/BooleanEvent.h"
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using namespace frc;
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Joystick::Joystick(int port) : GenericHID(port) {
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m_axes[Axis::kX] = kDefaultXChannel;
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m_axes[Axis::kY] = kDefaultYChannel;
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m_axes[Axis::kZ] = kDefaultZChannel;
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m_axes[Axis::kTwist] = kDefaultTwistChannel;
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m_axes[Axis::kThrottle] = kDefaultThrottleChannel;
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HAL_Report(HALUsageReporting::kResourceType_Joystick, port + 1);
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}
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void Joystick::SetXChannel(int channel) {
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m_axes[Axis::kX] = channel;
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}
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void Joystick::SetYChannel(int channel) {
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m_axes[Axis::kY] = channel;
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}
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void Joystick::SetZChannel(int channel) {
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m_axes[Axis::kZ] = channel;
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}
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void Joystick::SetTwistChannel(int channel) {
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m_axes[Axis::kTwist] = channel;
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}
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void Joystick::SetThrottleChannel(int channel) {
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m_axes[Axis::kThrottle] = channel;
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}
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int Joystick::GetXChannel() const {
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return m_axes[Axis::kX];
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}
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int Joystick::GetYChannel() const {
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return m_axes[Axis::kY];
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}
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int Joystick::GetZChannel() const {
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return m_axes[Axis::kZ];
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}
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int Joystick::GetTwistChannel() const {
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return m_axes[Axis::kTwist];
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}
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int Joystick::GetThrottleChannel() const {
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return m_axes[Axis::kThrottle];
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}
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double Joystick::GetX() const {
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return GetRawAxis(m_axes[Axis::kX]);
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}
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double Joystick::GetY() const {
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return GetRawAxis(m_axes[Axis::kY]);
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}
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double Joystick::GetZ() const {
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return GetRawAxis(m_axes[Axis::kZ]);
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}
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double Joystick::GetTwist() const {
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return GetRawAxis(m_axes[Axis::kTwist]);
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}
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double Joystick::GetThrottle() const {
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return GetRawAxis(m_axes[Axis::kThrottle]);
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}
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bool Joystick::GetTrigger() const {
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return GetRawButton(Button::kTrigger);
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}
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bool Joystick::GetTriggerPressed() {
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return GetRawButtonPressed(Button::kTrigger);
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}
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bool Joystick::GetTriggerReleased() {
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return GetRawButtonReleased(Button::kTrigger);
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}
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BooleanEvent Joystick::Trigger(EventLoop* loop) const {
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return BooleanEvent(loop, [this]() { return this->GetTrigger(); });
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}
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bool Joystick::GetTop() const {
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return GetRawButton(Button::kTop);
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}
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bool Joystick::GetTopPressed() {
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return GetRawButtonPressed(Button::kTop);
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}
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bool Joystick::GetTopReleased() {
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return GetRawButtonReleased(Button::kTop);
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}
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BooleanEvent Joystick::Top(EventLoop* loop) const {
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return BooleanEvent(loop, [this]() { return this->GetTop(); });
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}
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double Joystick::GetMagnitude() const {
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return std::hypot(GetX(), GetY());
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}
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double Joystick::GetDirectionRadians() const {
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return std::atan2(GetX(), -GetY());
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}
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double Joystick::GetDirectionDegrees() const {
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return (180 / std::numbers::pi) * GetDirectionRadians();
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}
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