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https://github.com/wpilibsuite/allwpilib
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69d9ad70ab
This is the changes made by Patrick Plenefisch converting the native code to use CMake and the CMake Maven Plugin, as opposed to the native Maven plugin. This is to allow for compatibility with newer versions of the GCC toolchain. All the cpp sources were moved from maven style directories to cpp style directories for CMake. Change-Id: I67f5e3608948f37c83b0990d232105a3784f8593
78 lines
2.5 KiB
C++
78 lines
2.5 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 "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 = 1;
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static const uint32_t kDefaultYAxis = 2;
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static const uint32_t kDefaultZAxis = 3;
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static const uint32_t kDefaultTwistAxis = 4;
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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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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 GetButton(ButtonType button);
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bool GetRawButton(uint32_t 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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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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};
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#endif
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