Squashed 'third_party/allwpilib/' content from commit b0167e633
Change-Id: I5653017a690eec1917e8fff9017195d8af307926
git-subtree-dir: third_party/allwpilib
git-subtree-split: b0167e6337135545e7053acb89dd5726accc7dec
diff --git a/wpilibc/src/main/native/cpp/Joystick.cpp b/wpilibc/src/main/native/cpp/Joystick.cpp
new file mode 100644
index 0000000..8d464cf
--- /dev/null
+++ b/wpilibc/src/main/native/cpp/Joystick.cpp
@@ -0,0 +1,94 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2008-2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#include "frc/Joystick.h"
+
+#include <cmath>
+
+#include <hal/FRCUsageReporting.h>
+#include <wpi/math>
+
+#include "frc/DriverStation.h"
+#include "frc/WPIErrors.h"
+
+using namespace frc;
+
+Joystick::Joystick(int port) : GenericHID(port) {
+ m_axes[Axis::kX] = kDefaultXChannel;
+ m_axes[Axis::kY] = kDefaultYChannel;
+ m_axes[Axis::kZ] = kDefaultZChannel;
+ m_axes[Axis::kTwist] = kDefaultTwistChannel;
+ m_axes[Axis::kThrottle] = kDefaultThrottleChannel;
+
+ HAL_Report(HALUsageReporting::kResourceType_Joystick, port + 1);
+}
+
+void Joystick::SetXChannel(int channel) { m_axes[Axis::kX] = channel; }
+
+void Joystick::SetYChannel(int channel) { m_axes[Axis::kY] = channel; }
+
+void Joystick::SetZChannel(int channel) { m_axes[Axis::kZ] = channel; }
+
+void Joystick::SetTwistChannel(int channel) { m_axes[Axis::kTwist] = channel; }
+
+void Joystick::SetThrottleChannel(int channel) {
+ m_axes[Axis::kThrottle] = channel;
+}
+
+int Joystick::GetXChannel() const { return m_axes[Axis::kX]; }
+
+int Joystick::GetYChannel() const { return m_axes[Axis::kY]; }
+
+int Joystick::GetZChannel() const { return m_axes[Axis::kZ]; }
+
+int Joystick::GetTwistChannel() const { return m_axes[Axis::kTwist]; }
+
+int Joystick::GetThrottleChannel() const { return m_axes[Axis::kThrottle]; }
+
+double Joystick::GetX(JoystickHand hand) const {
+ return GetRawAxis(m_axes[Axis::kX]);
+}
+
+double Joystick::GetY(JoystickHand hand) const {
+ return GetRawAxis(m_axes[Axis::kY]);
+}
+
+double Joystick::GetZ() const { return GetRawAxis(m_axes[Axis::kZ]); }
+
+double Joystick::GetTwist() const { return GetRawAxis(m_axes[Axis::kTwist]); }
+
+double Joystick::GetThrottle() const {
+ return GetRawAxis(m_axes[Axis::kThrottle]);
+}
+
+bool Joystick::GetTrigger() const { return GetRawButton(Button::kTrigger); }
+
+bool Joystick::GetTriggerPressed() {
+ return GetRawButtonPressed(Button::kTrigger);
+}
+
+bool Joystick::GetTriggerReleased() {
+ return GetRawButtonReleased(Button::kTrigger);
+}
+
+bool Joystick::GetTop() const { return GetRawButton(Button::kTop); }
+
+bool Joystick::GetTopPressed() { return GetRawButtonPressed(Button::kTop); }
+
+bool Joystick::GetTopReleased() { return GetRawButtonReleased(Button::kTop); }
+
+double Joystick::GetMagnitude() const {
+ return std::sqrt(std::pow(GetX(), 2) + std::pow(GetY(), 2));
+}
+
+double Joystick::GetDirectionRadians() const {
+ return std::atan2(GetX(), -GetY());
+}
+
+double Joystick::GetDirectionDegrees() const {
+ return (180 / wpi::math::pi) * GetDirectionRadians();
+}