This is the latest WPILib src, VisionSample2013, cRIO image, ... pulled down from firstforge.wpi.edu.
There might be risks in using the top of tree rather than an official release, but the commit messages do mention fixes for some deadlocks and race conditions.
git-svn-id: https://robotics.mvla.net/svn/frc971/2013/trunk/src@4066 f308d9b7-e957-4cde-b6ac-9a88185e7312
diff --git a/azaleasource/WPILibCProgramming/trunk/WPILib/Joystick.cpp b/azaleasource/WPILibCProgramming/trunk/WPILib/Joystick.cpp
new file mode 100644
index 0000000..2c8f8ee
--- /dev/null
+++ b/azaleasource/WPILibCProgramming/trunk/WPILib/Joystick.cpp
@@ -0,0 +1,302 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) FIRST 2008. 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 $(WIND_BASE)/WPILib. */
+/*----------------------------------------------------------------------------*/
+
+#include "Joystick.h"
+#include "DriverStation.h"
+#include "NetworkCommunication/UsageReporting.h"
+#include "WPIErrors.h"
+#include <math.h>
+
+const UINT32 Joystick::kDefaultXAxis;
+const UINT32 Joystick::kDefaultYAxis;
+const UINT32 Joystick::kDefaultZAxis;
+const UINT32 Joystick::kDefaultTwistAxis;
+const UINT32 Joystick::kDefaultThrottleAxis;
+const UINT32 Joystick::kDefaultTriggerButton;
+const UINT32 Joystick::kDefaultTopButton;
+static Joystick *joysticks[DriverStation::kJoystickPorts];
+static bool joySticksInitialized = false;
+
+/**
+ * Construct an instance of a joystick.
+ * The joystick index is the usb port on the drivers station.
+ *
+ * @param port The port on the driver station that the joystick is plugged into.
+ */
+Joystick::Joystick(UINT32 port)
+ : m_ds (NULL)
+ , m_port (port)
+ , m_axes (NULL)
+ , m_buttons (NULL)
+{
+ InitJoystick(kNumAxisTypes, kNumButtonTypes);
+
+ m_axes[kXAxis] = kDefaultXAxis;
+ m_axes[kYAxis] = kDefaultYAxis;
+ m_axes[kZAxis] = kDefaultZAxis;
+ m_axes[kTwistAxis] = kDefaultTwistAxis;
+ m_axes[kThrottleAxis] = kDefaultThrottleAxis;
+
+ m_buttons[kTriggerButton] = kDefaultTriggerButton;
+ m_buttons[kTopButton] = kDefaultTopButton;
+
+ nUsageReporting::report(nUsageReporting::kResourceType_Joystick, port);
+}
+
+/**
+ * Version of the constructor to be called by sub-classes.
+ *
+ * This constructor allows the subclass to configure the number of constants
+ * for axes and buttons.
+ *
+ * @param port The port on the driver station that the joystick is plugged into.
+ * @param numAxisTypes The number of axis types in the enum.
+ * @param numButtonTypes The number of button types in the enum.
+ */
+Joystick::Joystick(UINT32 port, UINT32 numAxisTypes, UINT32 numButtonTypes)
+ : m_ds (NULL)
+ , m_port (port)
+ , m_axes (NULL)
+ , m_buttons (NULL)
+{
+ InitJoystick(numAxisTypes, numButtonTypes);
+}
+
+void Joystick::InitJoystick(UINT32 numAxisTypes, UINT32 numButtonTypes)
+{
+ if ( !joySticksInitialized )
+ {
+ for (unsigned i = 0; i < DriverStation::kJoystickPorts; i++)
+ joysticks[i] = NULL;
+ joySticksInitialized = true;
+ }
+ joysticks[m_port - 1] = this;
+
+ m_ds = DriverStation::GetInstance();
+ m_axes = new UINT32[numAxisTypes];
+ m_buttons = new UINT32[numButtonTypes];
+}
+
+Joystick * Joystick::GetStickForPort(UINT32 port)
+{
+ Joystick *stick = joysticks[port - 1];
+ if (stick == NULL)
+ {
+ stick = new Joystick(port);
+ joysticks[port - 1] = stick;
+ }
+ return stick;
+}
+
+Joystick::~Joystick()
+{
+ delete [] m_buttons;
+ delete [] m_axes;
+}
+
+/**
+ * Get the X value of the joystick.
+ * This depends on the mapping of the joystick connected to the current port.
+ */
+float Joystick::GetX(JoystickHand hand)
+{
+ return GetRawAxis(m_axes[kXAxis]);
+}
+
+/**
+ * Get the Y value of the joystick.
+ * This depends on the mapping of the joystick connected to the current port.
+ */
+float Joystick::GetY(JoystickHand hand)
+{
+ return GetRawAxis(m_axes[kYAxis]);
+}
+
+/**
+ * Get the Z value of the current joystick.
+ * This depends on the mapping of the joystick connected to the current port.
+ */
+float Joystick::GetZ()
+{
+ return GetRawAxis(m_axes[kZAxis]);
+}
+
+/**
+ * Get the twist value of the current joystick.
+ * This depends on the mapping of the joystick connected to the current port.
+ */
+float Joystick::GetTwist()
+{
+ return GetRawAxis(m_axes[kTwistAxis]);
+}
+
+/**
+ * Get the throttle value of the current joystick.
+ * This depends on the mapping of the joystick connected to the current port.
+ */
+float Joystick::GetThrottle()
+{
+ return GetRawAxis(m_axes[kThrottleAxis]);
+}
+
+/**
+ * Get the value of the axis.
+ *
+ * @param axis The axis to read [1-6].
+ * @return The value of the axis.
+ */
+float Joystick::GetRawAxis(UINT32 axis)
+{
+ return m_ds->GetStickAxis(m_port, axis);
+}
+
+/**
+ * For the current joystick, return the axis determined by the argument.
+ *
+ * This is for cases where the joystick axis is returned programatically, otherwise one of the
+ * previous functions would be preferable (for example GetX()).
+ *
+ * @param axis The axis to read.
+ * @return The value of the axis.
+ */
+float Joystick::GetAxis(AxisType axis)
+{
+ switch(axis)
+ {
+ case kXAxis: return this->GetX();
+ case kYAxis: return this->GetY();
+ case kZAxis: return this->GetZ();
+ case kTwistAxis: return this->GetTwist();
+ case kThrottleAxis: return this->GetThrottle();
+ default:
+ wpi_setWPIError(BadJoystickAxis);
+ return 0.0;
+ }
+}
+
+/**
+ * Read the state of the trigger on the joystick.
+ *
+ * Look up which button has been assigned to the trigger and read its state.
+ *
+ * @param hand This parameter is ignored for the Joystick class and is only here to complete the GenericHID interface.
+ * @return The state of the trigger.
+ */
+bool Joystick::GetTrigger(JoystickHand hand)
+{
+ return GetRawButton(m_buttons[kTriggerButton]);
+}
+
+/**
+ * Read the state of the top button on the joystick.
+ *
+ * Look up which button has been assigned to the top and read its state.
+ *
+ * @param hand This parameter is ignored for the Joystick class and is only here to complete the GenericHID interface.
+ * @return The state of the top button.
+ */
+bool Joystick::GetTop(JoystickHand hand)
+{
+ return GetRawButton(m_buttons[kTopButton]);
+}
+
+/**
+ * This is not supported for the Joystick.
+ * This method is only here to complete the GenericHID interface.
+ */
+bool Joystick::GetBumper(JoystickHand hand)
+{
+ // Joysticks don't have bumpers.
+ return false;
+}
+
+/**
+ * Get the button value for buttons 1 through 12.
+ *
+ * The buttons are returned in a single 16 bit value with one bit representing the state
+ * of each button. The appropriate button is returned as a boolean value.
+ *
+ * @param button The button number to be read.
+ * @return The state of the button.
+ **/
+bool Joystick::GetRawButton(UINT32 button)
+{
+ return ((0x1 << (button-1)) & m_ds->GetStickButtons(m_port)) != 0;
+}
+
+/**
+ * Get buttons based on an enumerated type.
+ *
+ * The button type will be looked up in the list of buttons and then read.
+ *
+ * @param button The type of button to read.
+ * @return The state of the button.
+ */
+bool Joystick::GetButton(ButtonType button)
+{
+ switch (button)
+ {
+ case kTriggerButton: return GetTrigger();
+ case kTopButton: return GetTop();
+ default:
+ return false;
+ }
+}
+
+/**
+ * Get the channel currently associated with the specified axis.
+ *
+ * @param axis The axis to look up the channel for.
+ * @return The channel fr the axis.
+ */
+UINT32 Joystick::GetAxisChannel(AxisType axis)
+{
+ return m_axes[axis];
+}
+
+/**
+ * Set the channel associated with a specified axis.
+ *
+ * @param axis The axis to set the channel for.
+ * @param channel The channel to set the axis to.
+ */
+void Joystick::SetAxisChannel(AxisType axis, UINT32 channel)
+{
+ m_axes[axis] = channel;
+}
+
+/**
+ * Get the magnitude of the direction vector formed by the joystick's
+ * current position relative to its origin
+ *
+ * @return The magnitude of the direction vector
+ */
+float Joystick::GetMagnitude(){
+ return sqrt(pow(GetX(),2) + pow(GetY(),2) );
+}
+
+/**
+ * Get the direction of the vector formed by the joystick and its origin
+ * in radians
+ *
+ * @return The direction of the vector in radians
+ */
+float Joystick::GetDirectionRadians(){
+ return atan2(GetX(), -GetY());
+}
+
+/**
+ * Get the direction of the vector formed by the joystick and its origin
+ * in degrees
+ *
+ * uses acos(-1) to represent Pi due to absence of readily accessable Pi
+ * constant in C++
+ *
+ * @return The direction of the vector in degrees
+ */
+float Joystick::GetDirectionDegrees(){
+ return (180/acos(-1))*GetDirectionRadians();
+}