Joystick.h

/*----------------------------------------------------------------------------*/
/* 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;

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