Brian Silverman | 8fce748 | 2020-01-05 13:18:21 -0800 | [diff] [blame] | 1 | /*----------------------------------------------------------------------------*/ |
Austin Schuh | 1e69f94 | 2020-11-14 15:06:14 -0800 | [diff] [blame^] | 2 | /* Copyright (c) 2016-2020 FIRST. All Rights Reserved. */ |
Brian Silverman | 8fce748 | 2020-01-05 13:18:21 -0800 | [diff] [blame] | 3 | /* Open Source Software - may be modified and shared by FRC teams. The code */ |
| 4 | /* must be accompanied by the FIRST BSD license file in the root directory of */ |
| 5 | /* the project. */ |
| 6 | /*----------------------------------------------------------------------------*/ |
| 7 | |
| 8 | #include "frc/GenericHID.h" |
| 9 | |
| 10 | #include <hal/DriverStation.h> |
Brian Silverman | 8fce748 | 2020-01-05 13:18:21 -0800 | [diff] [blame] | 11 | |
| 12 | #include "frc/DriverStation.h" |
| 13 | #include "frc/WPIErrors.h" |
| 14 | |
| 15 | using namespace frc; |
| 16 | |
| 17 | GenericHID::GenericHID(int port) : m_ds(&DriverStation::GetInstance()) { |
| 18 | if (port >= DriverStation::kJoystickPorts) { |
| 19 | wpi_setWPIError(BadJoystickIndex); |
| 20 | } |
| 21 | m_port = port; |
| 22 | } |
| 23 | |
| 24 | bool GenericHID::GetRawButton(int button) const { |
| 25 | return m_ds->GetStickButton(m_port, button); |
| 26 | } |
| 27 | |
| 28 | bool GenericHID::GetRawButtonPressed(int button) { |
| 29 | return m_ds->GetStickButtonPressed(m_port, button); |
| 30 | } |
| 31 | |
| 32 | bool GenericHID::GetRawButtonReleased(int button) { |
| 33 | return m_ds->GetStickButtonReleased(m_port, button); |
| 34 | } |
| 35 | |
| 36 | double GenericHID::GetRawAxis(int axis) const { |
| 37 | return m_ds->GetStickAxis(m_port, axis); |
| 38 | } |
| 39 | |
| 40 | int GenericHID::GetPOV(int pov) const { return m_ds->GetStickPOV(m_port, pov); } |
| 41 | |
| 42 | int GenericHID::GetAxisCount() const { return m_ds->GetStickAxisCount(m_port); } |
| 43 | |
| 44 | int GenericHID::GetPOVCount() const { return m_ds->GetStickPOVCount(m_port); } |
| 45 | |
| 46 | int GenericHID::GetButtonCount() const { |
| 47 | return m_ds->GetStickButtonCount(m_port); |
| 48 | } |
| 49 | |
Austin Schuh | 1e69f94 | 2020-11-14 15:06:14 -0800 | [diff] [blame^] | 50 | bool GenericHID::IsConnected() const { |
| 51 | return m_ds->IsJoystickConnected(m_port); |
| 52 | } |
| 53 | |
Brian Silverman | 8fce748 | 2020-01-05 13:18:21 -0800 | [diff] [blame] | 54 | GenericHID::HIDType GenericHID::GetType() const { |
| 55 | return static_cast<HIDType>(m_ds->GetJoystickType(m_port)); |
| 56 | } |
| 57 | |
| 58 | std::string GenericHID::GetName() const { |
| 59 | return m_ds->GetJoystickName(m_port); |
| 60 | } |
| 61 | |
| 62 | int GenericHID::GetAxisType(int axis) const { |
| 63 | return m_ds->GetJoystickAxisType(m_port, axis); |
| 64 | } |
| 65 | |
| 66 | int GenericHID::GetPort() const { return m_port; } |
| 67 | |
| 68 | void GenericHID::SetOutput(int outputNumber, bool value) { |
| 69 | m_outputs = |
| 70 | (m_outputs & ~(1 << (outputNumber - 1))) | (value << (outputNumber - 1)); |
| 71 | |
| 72 | HAL_SetJoystickOutputs(m_port, m_outputs, m_leftRumble, m_rightRumble); |
| 73 | } |
| 74 | |
| 75 | void GenericHID::SetOutputs(int value) { |
| 76 | m_outputs = value; |
| 77 | HAL_SetJoystickOutputs(m_port, m_outputs, m_leftRumble, m_rightRumble); |
| 78 | } |
| 79 | |
| 80 | void GenericHID::SetRumble(RumbleType type, double value) { |
| 81 | if (value < 0) |
| 82 | value = 0; |
| 83 | else if (value > 1) |
| 84 | value = 1; |
| 85 | if (type == kLeftRumble) { |
| 86 | m_leftRumble = value * 65535; |
| 87 | } else { |
| 88 | m_rightRumble = value * 65535; |
| 89 | } |
| 90 | HAL_SetJoystickOutputs(m_port, m_outputs, m_leftRumble, m_rightRumble); |
| 91 | } |