| jerrym | f157933 | 2013-02-07 01:56:28 +0000 | [diff] [blame] | 1 | /*----------------------------------------------------------------------------*/
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| 2 | /* Copyright (c) FIRST 2008. 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 JOYSTICK_H_
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| 8 | #define JOYSTICK_H_
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| 9 |
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| 10 | #include "GenericHID.h"
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| 11 | #include "ErrorBase.h"
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| 12 |
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| 13 | class DriverStation;
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| 14 |
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| 15 | /**
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| 16 | * Handle input from standard Joysticks connected to the Driver Station.
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| 17 | * This class handles standard input that comes from the Driver Station. Each time a value is requested
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| 18 | * the most recent value is returned. There is a single class instance for each joystick and the mapping
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| 19 | * of ports to hardware buttons depends on the code in the driver station.
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| 20 | */
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| 21 | class Joystick : public GenericHID, public ErrorBase
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| 22 | {
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| 23 | public:
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| 24 | static const UINT32 kDefaultXAxis = 1;
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| 25 | static const UINT32 kDefaultYAxis = 2;
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| 26 | static const UINT32 kDefaultZAxis = 3;
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| 27 | static const UINT32 kDefaultTwistAxis = 4;
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| 28 | static const UINT32 kDefaultThrottleAxis = 3;
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| 29 | typedef enum
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| 30 | {
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| 31 | kXAxis, kYAxis, kZAxis, kTwistAxis, kThrottleAxis, kNumAxisTypes
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| 32 | } AxisType;
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| 33 | static const UINT32 kDefaultTriggerButton = 1;
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| 34 | static const UINT32 kDefaultTopButton = 2;
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| 35 | typedef enum
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| 36 | {
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| 37 | kTriggerButton, kTopButton, kNumButtonTypes
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| 38 | } ButtonType;
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| 39 |
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| 40 | explicit Joystick(UINT32 port);
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| 41 | Joystick(UINT32 port, UINT32 numAxisTypes, UINT32 numButtonTypes);
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| 42 | virtual ~Joystick();
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| 43 |
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| 44 | UINT32 GetAxisChannel(AxisType axis);
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| 45 | void SetAxisChannel(AxisType axis, UINT32 channel);
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| 46 |
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| 47 | virtual float GetX(JoystickHand hand = kRightHand);
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| 48 | virtual float GetY(JoystickHand hand = kRightHand);
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| 49 | virtual float GetZ();
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| 50 | virtual float GetTwist();
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| 51 | virtual float GetThrottle();
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| 52 | virtual float GetAxis(AxisType axis);
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| 53 | float GetRawAxis(UINT32 axis);
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| 54 |
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| 55 | virtual bool GetTrigger(JoystickHand hand = kRightHand);
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| 56 | virtual bool GetTop(JoystickHand hand = kRightHand);
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| 57 | virtual bool GetBumper(JoystickHand hand = kRightHand);
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| 58 | virtual bool GetButton(ButtonType button);
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| 59 | bool GetRawButton(UINT32 button);
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| 60 | static Joystick* GetStickForPort(UINT32 port);
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| 61 |
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| 62 | virtual float GetMagnitude();
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| 63 | virtual float GetDirectionRadians();
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| 64 | virtual float GetDirectionDegrees();
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| 65 |
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| 66 | private:
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| 67 | DISALLOW_COPY_AND_ASSIGN(Joystick);
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| 68 | void InitJoystick(UINT32 numAxisTypes, UINT32 numButtonTypes);
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| 69 |
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| 70 | DriverStation *m_ds;
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| 71 | UINT32 m_port;
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| 72 | UINT32 *m_axes;
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| 73 | UINT32 *m_buttons;
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| 74 | };
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| 75 |
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| 76 | #endif
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| 77 |
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