KinectStick.h

/*----------------------------------------------------------------------------*/
/* Copyright (c) FIRST 2011. 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 __KINECT_STICK_H__
#define __KINECT_STICK_H__

#include "ErrorBase.h"
#include "GenericHID.h"

class KinectStick : public GenericHID, public ErrorBase
{
public:
        explicit KinectStick(int id);
        virtual float GetX(JoystickHand hand = kRightHand);
        virtual float GetY(JoystickHand hand = kRightHand);
        virtual float GetZ();
        virtual float GetTwist();
        virtual float GetThrottle();
        virtual float GetRawAxis(UINT32 axis);

        virtual bool GetTrigger(JoystickHand hand = kRightHand);
        virtual bool GetTop(JoystickHand hand = kRightHand);
        virtual bool GetBumper(JoystickHand hand = kRightHand);
        virtual bool GetRawButton(UINT32 button);

private:
        void GetData();
        float ConvertRawToFloat(INT8 charValue);

        typedef union
        {
                struct
                {
                        UINT8 size;
                        UINT8 id;
                        struct
                        {
                                unsigned char axis[6];
                                unsigned short buttons;
                        } rawSticks[2];
                } formatted;
                char data[18];
        } KinectStickData;

        int m_id;
        static UINT32 _recentPacketNumber;
        static KinectStickData _sticks;
};

#endif