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_t kDefaultXAxis = 1;
    static const uint32_t kDefaultYAxis = 2;
    static const uint32_t kDefaultZAxis = 3;
    static const uint32_t kDefaultTwistAxis = 4;
    static const uint32_t kDefaultThrottleAxis = 3;
    typedef enum
    {
        kXAxis, kYAxis, kZAxis, kTwistAxis, kThrottleAxis, kNumAxisTypes
    } AxisType;
    static const uint32_t kDefaultTriggerButton = 1;
    static const uint32_t kDefaultTopButton = 2;
    typedef enum
    {
        kTriggerButton, kTopButton, kNumButtonTypes
    } ButtonType;

    explicit Joystick(uint32_t port);
    Joystick(uint32_t port, uint32_t numAxisTypes, uint32_t numButtonTypes);
    virtual ~Joystick();

    uint32_t GetAxisChannel(AxisType axis);
    void SetAxisChannel(AxisType axis, uint32_t 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_t 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_t button);
    static Joystick* GetStickForPort(uint32_t port);
    
    virtual float GetMagnitude();
    virtual float GetDirectionRadians();
    virtual float GetDirectionDegrees();

private:
    DISALLOW_COPY_AND_ASSIGN(Joystick);
    void InitJoystick(uint32_t numAxisTypes, uint32_t numButtonTypes);

    DriverStation *m_ds;
    uint32_t m_port;
    uint32_t *m_axes;
    uint32_t *m_buttons;
};

#endif