Brian Silverman | f7f267a | 2017-02-04 16:16:08 -0800 | [diff] [blame^] | 1 | /*----------------------------------------------------------------------------*/ |
| 2 | /* Copyright (c) FIRST 2016-2017. All Rights Reserved. */ |
| 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 "XboxController.h" |
| 9 | |
| 10 | #include "DriverStation.h" |
| 11 | #include "HAL/HAL.h" |
| 12 | |
| 13 | using namespace frc; |
| 14 | |
| 15 | /** |
| 16 | * Construct an instance of an Xbox controller. |
| 17 | * |
| 18 | * The joystick index is the USB port on the Driver Station. |
| 19 | * |
| 20 | * @param port The port on the Driver Station that the joystick is plugged into |
| 21 | * (0-5). |
| 22 | */ |
| 23 | XboxController::XboxController(int port) |
| 24 | : GamepadBase(port), m_ds(DriverStation::GetInstance()) { |
| 25 | // HAL_Report(HALUsageReporting::kResourceType_XboxController, port); |
| 26 | HAL_Report(HALUsageReporting::kResourceType_Joystick, port); |
| 27 | } |
| 28 | |
| 29 | /** |
| 30 | * Get the X axis value of the controller. |
| 31 | * |
| 32 | * @param hand Side of controller whose value should be returned. |
| 33 | */ |
| 34 | double XboxController::GetX(JoystickHand hand) const { |
| 35 | if (hand == kLeftHand) { |
| 36 | return GetRawAxis(0); |
| 37 | } else { |
| 38 | return GetRawAxis(4); |
| 39 | } |
| 40 | } |
| 41 | |
| 42 | /** |
| 43 | * Get the Y axis value of the controller. |
| 44 | * |
| 45 | * @param hand Side of controller whose value should be returned. |
| 46 | */ |
| 47 | double XboxController::GetY(JoystickHand hand) const { |
| 48 | if (hand == kLeftHand) { |
| 49 | return GetRawAxis(1); |
| 50 | } else { |
| 51 | return GetRawAxis(5); |
| 52 | } |
| 53 | } |
| 54 | |
| 55 | /** |
| 56 | * Read the value of the bumper button on the controller. |
| 57 | * |
| 58 | * @param hand Side of controller whose value should be returned. |
| 59 | */ |
| 60 | bool XboxController::GetBumper(JoystickHand hand) const { |
| 61 | if (hand == kLeftHand) { |
| 62 | return GetRawButton(5); |
| 63 | } else { |
| 64 | return GetRawButton(6); |
| 65 | } |
| 66 | } |
| 67 | |
| 68 | /** |
| 69 | * Read the value of the stick button on the controller. |
| 70 | * |
| 71 | * @param hand Side of controller whose value should be returned. |
| 72 | * @return The state of the button. |
| 73 | */ |
| 74 | bool XboxController::GetStickButton(JoystickHand hand) const { |
| 75 | if (hand == kLeftHand) { |
| 76 | return GetRawButton(9); |
| 77 | } else { |
| 78 | return GetRawButton(10); |
| 79 | } |
| 80 | } |
| 81 | |
| 82 | /** |
| 83 | * Get the trigger axis value of the controller. |
| 84 | * |
| 85 | * @param hand Side of controller whose value should be returned. |
| 86 | */ |
| 87 | double XboxController::GetTriggerAxis(JoystickHand hand) const { |
| 88 | if (hand == kLeftHand) { |
| 89 | return GetRawAxis(2); |
| 90 | } else { |
| 91 | return GetRawAxis(3); |
| 92 | } |
| 93 | } |
| 94 | |
| 95 | /** |
| 96 | * Read the value of the A button on the controller. |
| 97 | * |
| 98 | * @param hand Side of controller whose value should be returned. |
| 99 | * @return The state of the button. |
| 100 | */ |
| 101 | bool XboxController::GetAButton() const { return GetRawButton(1); } |
| 102 | |
| 103 | /** |
| 104 | * Read the value of the B button on the controller. |
| 105 | * |
| 106 | * @param hand Side of controller whose value should be returned. |
| 107 | * @return The state of the button. |
| 108 | */ |
| 109 | bool XboxController::GetBButton() const { return GetRawButton(2); } |
| 110 | |
| 111 | /** |
| 112 | * Read the value of the X button on the controller. |
| 113 | * |
| 114 | * @param hand Side of controller whose value should be returned. |
| 115 | * @return The state of the button. |
| 116 | */ |
| 117 | bool XboxController::GetXButton() const { return GetRawButton(3); } |
| 118 | |
| 119 | /** |
| 120 | * Read the value of the Y button on the controller. |
| 121 | * |
| 122 | * @param hand Side of controller whose value should be returned. |
| 123 | * @return The state of the button. |
| 124 | */ |
| 125 | bool XboxController::GetYButton() const { return GetRawButton(4); } |
| 126 | |
| 127 | /** |
| 128 | * Read the value of the back button on the controller. |
| 129 | * |
| 130 | * @param hand Side of controller whose value should be returned. |
| 131 | * @return The state of the button. |
| 132 | */ |
| 133 | bool XboxController::GetBackButton() const { return GetRawButton(7); } |
| 134 | |
| 135 | /** |
| 136 | * Read the value of the start button on the controller. |
| 137 | * |
| 138 | * @param hand Side of controller whose value should be returned. |
| 139 | * @return The state of the button. |
| 140 | */ |
| 141 | bool XboxController::GetStartButton() const { return GetRawButton(8); } |