mirror of
https://github.com/wpilibsuite/allwpilib
synced 2026-06-19 00:41:43 +00:00
fa809b2c4b
Based on run of include-what-you-use.org to identify unused include files in various .h and .cpp files. The changes mostly fall into 3 categories: - Actually unused includes - copy-paste errors, not removing includes after cleaning up code, etc - A too-broad include used where a more specific (and hopefully smaller) header will do - Interface .h files including headers only needed by the .cpp implementation - moving from .h to .cpp will mean that code which uses the .h doesn't pay the price of processing the header file they don't need
92 lines
2.8 KiB
C++
92 lines
2.8 KiB
C++
/*----------------------------------------------------------------------------*/
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/* Copyright (c) 2008-2020 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/Joystick.h"
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#include <cmath>
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#include <hal/FRCUsageReporting.h>
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#include <wpi/math>
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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) { m_axes[Axis::kX] = channel; }
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void Joystick::SetYChannel(int channel) { m_axes[Axis::kY] = channel; }
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void Joystick::SetZChannel(int channel) { m_axes[Axis::kZ] = channel; }
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void Joystick::SetTwistChannel(int channel) { m_axes[Axis::kTwist] = channel; }
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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 { return m_axes[Axis::kX]; }
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int Joystick::GetYChannel() const { return m_axes[Axis::kY]; }
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int Joystick::GetZChannel() const { return m_axes[Axis::kZ]; }
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int Joystick::GetTwistChannel() const { return m_axes[Axis::kTwist]; }
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int Joystick::GetThrottleChannel() const { return m_axes[Axis::kThrottle]; }
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double Joystick::GetX(JoystickHand hand) const {
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return GetRawAxis(m_axes[Axis::kX]);
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}
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double Joystick::GetY(JoystickHand hand) const {
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return GetRawAxis(m_axes[Axis::kY]);
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}
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double Joystick::GetZ() const { return GetRawAxis(m_axes[Axis::kZ]); }
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double Joystick::GetTwist() const { return GetRawAxis(m_axes[Axis::kTwist]); }
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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 { return GetRawButton(Button::kTrigger); }
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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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bool Joystick::GetTop() const { return GetRawButton(Button::kTop); }
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bool Joystick::GetTopPressed() { return GetRawButtonPressed(Button::kTop); }
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bool Joystick::GetTopReleased() { return GetRawButtonReleased(Button::kTop); }
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double Joystick::GetMagnitude() const {
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return std::sqrt(std::pow(GetX(), 2) + std::pow(GetY(), 2));
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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 / wpi::math::pi) * GetDirectionRadians();
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}
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