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.h b/azaleasource/WPILibCProgramming/trunk/WPILib/Joystick.h
new file mode 100644
index 0000000..04b98ef
--- /dev/null
+++ b/azaleasource/WPILibCProgramming/trunk/WPILib/Joystick.h
@@ -0,0 +1,77 @@
+/*----------------------------------------------------------------------------*/
+/* 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. */
+/*----------------------------------------------------------------------------*/
+
+#ifndef JOYSTICK_H_
+#define JOYSTICK_H_
+
+#include "GenericHID.h"
+#include "ErrorBase.h"
+
+class DriverStation;
+
+/**
+ * Handle input from standard Joysticks connected to the Driver Station.
+ * This class handles standard input that comes from the Driver Station. Each time a value is requested
+ * the most recent value is returned. There is a single class instance for each joystick and the mapping
+ * of ports to hardware buttons depends on the code in the driver station.
+ */
+class Joystick : public GenericHID, public ErrorBase
+{
+public:
+ static const UINT32 kDefaultXAxis = 1;
+ static const UINT32 kDefaultYAxis = 2;
+ static const UINT32 kDefaultZAxis = 3;
+ static const UINT32 kDefaultTwistAxis = 4;
+ static const UINT32 kDefaultThrottleAxis = 3;
+ typedef enum
+ {
+ kXAxis, kYAxis, kZAxis, kTwistAxis, kThrottleAxis, kNumAxisTypes
+ } AxisType;
+ static const UINT32 kDefaultTriggerButton = 1;
+ static const UINT32 kDefaultTopButton = 2;
+ typedef enum
+ {
+ kTriggerButton, kTopButton, kNumButtonTypes
+ } ButtonType;
+
+ explicit Joystick(UINT32 port);
+ Joystick(UINT32 port, UINT32 numAxisTypes, UINT32 numButtonTypes);
+ virtual ~Joystick();
+
+ UINT32 GetAxisChannel(AxisType axis);
+ void SetAxisChannel(AxisType axis, UINT32 channel);
+
+ virtual float GetX(JoystickHand hand = kRightHand);
+ virtual float GetY(JoystickHand hand = kRightHand);
+ virtual float GetZ();
+ virtual float GetTwist();
+ virtual float GetThrottle();
+ virtual float GetAxis(AxisType axis);
+ float GetRawAxis(UINT32 axis);
+
+ virtual bool GetTrigger(JoystickHand hand = kRightHand);
+ virtual bool GetTop(JoystickHand hand = kRightHand);
+ virtual bool GetBumper(JoystickHand hand = kRightHand);
+ virtual bool GetButton(ButtonType button);
+ bool GetRawButton(UINT32 button);
+ static Joystick* GetStickForPort(UINT32 port);
+
+ virtual float GetMagnitude();
+ virtual float GetDirectionRadians();
+ virtual float GetDirectionDegrees();
+
+private:
+ DISALLOW_COPY_AND_ASSIGN(Joystick);
+ void InitJoystick(UINT32 numAxisTypes, UINT32 numButtonTypes);
+
+ DriverStation *m_ds;
+ UINT32 m_port;
+ UINT32 *m_axes;
+ UINT32 *m_buttons;
+};
+
+#endif
+