| jerrym | f157933 | 2013-02-07 01:56:28 +0000 | [diff] [blame] | 1 | /*----------------------------------------------------------------------------*/
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| 2 | /* Copyright (c) FIRST 2011. All Rights Reserved. */
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| 3 | /* Open Source Software - may be modified and shared by FRC teams. The code */
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| 4 | /* must be accompanied by the FIRST BSD license file in $(WIND_BASE)/WPILib. */
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| 5 | /*----------------------------------------------------------------------------*/
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| 6 |
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| 7 | #ifndef __KINECT_STICK_H__
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| 8 | #define __KINECT_STICK_H__
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| 9 |
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| 10 | #include "ErrorBase.h"
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| 11 | #include "GenericHID.h"
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| 12 |
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| 13 | /**
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| 14 | * Handles input from the Joystick data sent by the FRC Kinect Server
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| 15 | * when used with a Kinect device connected to the Driver Station.
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| 16 | * Each time a value is requested the most recent value is returned.
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| 17 | * Default gestures embedded in the FRC Kinect Server are described
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| 18 | * in the document Getting Started with Microsoft Kinect for FRC.
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| 19 | */
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| 20 | class KinectStick : public GenericHID, public ErrorBase
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| 21 | {
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| 22 | public:
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| 23 | explicit KinectStick(int id);
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| 24 | virtual float GetX(JoystickHand hand = kRightHand);
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| 25 | virtual float GetY(JoystickHand hand = kRightHand);
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| 26 | virtual float GetZ();
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| 27 | virtual float GetTwist();
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| 28 | virtual float GetThrottle();
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| 29 | virtual float GetRawAxis(UINT32 axis);
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| 30 |
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| 31 | virtual bool GetTrigger(JoystickHand hand = kRightHand);
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| 32 | virtual bool GetTop(JoystickHand hand = kRightHand);
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| 33 | virtual bool GetBumper(JoystickHand hand = kRightHand);
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| 34 | virtual bool GetRawButton(UINT32 button);
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| 35 |
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| 36 | private:
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| 37 | void GetData();
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| 38 | float ConvertRawToFloat(INT8 charValue);
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| 39 |
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| 40 | typedef union
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| 41 | {
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| 42 | struct
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| 43 | {
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| 44 | UINT8 size;
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| 45 | UINT8 id;
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| 46 | struct
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| 47 | {
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| 48 | unsigned char axis[6];
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| 49 | unsigned short buttons;
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| 50 | } rawSticks[2];
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| 51 | } formatted;
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| 52 | char data[18];
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| 53 | } KinectStickData;
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| 54 |
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| 55 | int m_id;
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| 56 | static UINT32 _recentPacketNumber;
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| 57 | static KinectStickData _sticks;
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| 58 | };
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| 59 |
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| 60 | #endif
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| 61 |
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