Split joystick_reader into hardware shim + application.
Change-Id: If31e6dd7ece547a2952ec21e2f4bc745ee6f9d84
diff --git a/aos/common/input/driver_station_data.cc b/aos/common/input/driver_station_data.cc
index 18b3403..d97601a 100644
--- a/aos/common/input/driver_station_data.cc
+++ b/aos/common/input/driver_station_data.cc
@@ -6,7 +6,7 @@
Data::Data() : current_values_(), old_values_() {}
-void Data::Update(const NetworkRobotJoysticks &new_values) {
+void Data::Update(const RobotState &new_values) {
old_values_ = current_values_;
current_values_ = new_values;
}
@@ -14,22 +14,22 @@
namespace {
bool GetButton(const ButtonLocation location,
- const NetworkRobotJoysticks &values) {
+ const RobotState &values) {
return values.joysticks[location.joystick() - 1].buttons &
(1 << (location.number() - 1));
}
bool GetControlBitValue(const ControlBit bit,
- const NetworkRobotJoysticks &values) {
+ const RobotState &values) {
switch (bit) {
case ControlBit::kTestMode:
- return values.control.test_mode();
+ return values.test_mode;
case ControlBit::kFmsAttached:
- return values.control.fms_attached();
+ return values.fms_attached;
case ControlBit::kAutonomous:
- return values.control.autonomous();
+ return values.autonomous;
case ControlBit::kEnabled:
- return values.control.enabled();
+ return values.enabled;
default:
__builtin_unreachable();
}
@@ -66,9 +66,7 @@
}
float Data::GetAxis(JoystickAxis axis) const {
- // TODO(brians): check this math against what our joysticks report as their
- // logical minimums and maximums
- return current_values_.joysticks[axis.joystick() - 1].axes[axis.number() - 1] / 127.0;
+ return current_values_.joysticks[axis.joystick() - 1].axis[axis.number() - 1];
}
} // namespace driver_station