#include <Joystick.h>

Inheritance diagram for Joystick:

Public Types
enum	AxisType { kXAxis, kYAxis, kZAxis, kTwistAxis, kThrottleAxis, kNumAxisTypes }

enum	ButtonType { kTriggerButton, kTopButton, kNumButtonTypes }

Public Types inherited from GenericHID
enum	JoystickHand { kLeftHand = 0, kRightHand = 1 }

Public Member Functions
	Joystick (uint32_t port)

	Joystick (uint32_t port, uint32_t numAxisTypes, uint32_t numButtonTypes)

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)

virtual float	GetMagnitude ()

virtual float	GetDirectionRadians ()

virtual float	GetDirectionDegrees ()

Public Member Functions inherited from ErrorBase
virtual Error &	GetError ()
	Retrieve the current error. Get the current error information associated with this sensor.

virtual const Error &	GetError () const

virtual void	SetErrnoError (const char contextMessage, const char filename, const char *function, uint32_t lineNumber) const
	Set error information associated with a C library call that set an error to the "errno" global variable. More...

virtual void	SetImaqError (int success, const char contextMessage, const char filename, const char *function, uint32_t lineNumber) const
	Set the current error information associated from the nivision Imaq API. More...

virtual void	SetError (Error::Code code, const char contextMessage, const char filename, const char *function, uint32_t lineNumber) const
	Set the current error information associated with this sensor. More...

virtual void	SetWPIError (const char errorMessage, const char contextMessage, const char filename, const char function, uint32_t lineNumber) const
	Set the current error information associated with this sensor. More...

virtual void	CloneError (ErrorBase *rhs) const

virtual void	ClearError () const
	Clear the current error information associated with this sensor.

virtual bool	StatusIsFatal () const
	Check if the current error code represents a fatal error. More...

Static Public Member Functions
static Joystick *	GetStickForPort (uint32_t port)

Static Public Member Functions inherited from ErrorBase
static void	SetGlobalError (Error::Code code, const char contextMessage, const char filename, const char *function, uint32_t lineNumber)

static void	SetGlobalWPIError (const char errorMessage, const char contextMessage, const char filename, const char function, uint32_t lineNumber)

static Error &	GetGlobalError ()

Static Public Attributes
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

static const uint32_t	kDefaultTriggerButton = 1

static const uint32_t	kDefaultTopButton = 2

Additional Inherited Members
Protected Member Functions inherited from ErrorBase
	ErrorBase ()
	Initialize the instance status to 0 for now.

Protected Attributes inherited from ErrorBase
Error	m_error

Static Protected Attributes inherited from ErrorBase
static SEM_ID	_globalErrorMutex = semMCreate(SEM_Q_PRIORITY \| SEM_DELETE_SAFE \| SEM_INVERSION_SAFE)

static Error	_globalError

Detailed Description

Handle input from standard Joysticks connected to the Driver Station. This class handles standard input that comes from the Driver Station. Each time a value is requested the most recent value is returned. There is a single class instance for each joystick and the mapping of ports to hardware buttons depends on the code in the driver station.

Constructor & Destructor Documentation

Joystick::Joystick ( uint32_t port )

explicit

Construct an instance of a joystick. The joystick index is the usb port on the drivers station.

Parameters

port	The port on the driver station that the joystick is plugged into.

Joystick::Joystick	(	uint32_t	port,
		uint32_t	numAxisTypes,
		uint32_t	numButtonTypes
	)

Version of the constructor to be called by sub-classes.

This constructor allows the subclass to configure the number of constants for axes and buttons.

Parameters

port	The port on the driver station that the joystick is plugged into.
numAxisTypes	The number of axis types in the enum.
numButtonTypes	The number of button types in the enum.

Member Function Documentation

float Joystick::GetAxis ( AxisType axis )

virtual

For the current joystick, return the axis determined by the argument.

This is for cases where the joystick axis is returned programatically, otherwise one of the previous functions would be preferable (for example GetX()).

Parameters

axis	The axis to read.

Returns: The value of the axis.

uint32_t Joystick::GetAxisChannel ( AxisType axis )

Get the channel currently associated with the specified axis.

Parameters

axis	The axis to look up the channel for.

Returns: The channel fr the axis.

bool Joystick::GetBumper ( JoystickHand hand = kRightHand )

virtual

This is not supported for the Joystick. This method is only here to complete the GenericHID interface.

Implements GenericHID.

bool Joystick::GetButton ( ButtonType button )

virtual

Get buttons based on an enumerated type.

The button type will be looked up in the list of buttons and then read.

Parameters

button The type of button to read.

Returns: The state of the button.

float Joystick::GetDirectionDegrees ( )

virtual

Get the direction of the vector formed by the joystick and its origin in degrees

uses acos(-1) to represent Pi due to absence of readily accessable Pi constant in C++

Returns: The direction of the vector in degrees

float Joystick::GetDirectionRadians ( )

virtual

Get the direction of the vector formed by the joystick and its origin in radians

Returns: The direction of the vector in radians

float Joystick::GetMagnitude ( )

virtual

Get the magnitude of the direction vector formed by the joystick's current position relative to its origin

Returns: The magnitude of the direction vector

float Joystick::GetRawAxis ( uint32_t axis )

virtual

Get the value of the axis.

Parameters

axis	The axis to read [1-6].

Returns: The value of the axis.

Implements GenericHID.

bool Joystick::GetRawButton ( uint32_t button )

virtual

Get the button value for buttons 1 through 12.

The buttons are returned in a single 16 bit value with one bit representing the state of each button. The appropriate button is returned as a boolean value.

Parameters

button The button number to be read.

Returns: The state of the button.

Implements GenericHID.

float Joystick::GetThrottle ( )

virtual

Get the throttle value of the current joystick. This depends on the mapping of the joystick connected to the current port.

Implements GenericHID.

bool Joystick::GetTop ( JoystickHand hand = kRightHand )

virtual

Read the state of the top button on the joystick.

Look up which button has been assigned to the top and read its state.

Parameters

hand	This parameter is ignored for the Joystick class and is only here to complete the GenericHID interface.

Returns: The state of the top button.

Implements GenericHID.

bool Joystick::GetTrigger ( JoystickHand hand = kRightHand )

virtual

Read the state of the trigger on the joystick.

Look up which button has been assigned to the trigger and read its state.

Parameters

hand	This parameter is ignored for the Joystick class and is only here to complete the GenericHID interface.

Returns: The state of the trigger.

Implements GenericHID.

float Joystick::GetTwist ( )

virtual

Get the twist value of the current joystick. This depends on the mapping of the joystick connected to the current port.

Implements GenericHID.

float Joystick::GetX ( JoystickHand hand = kRightHand )

virtual

Get the X value of the joystick. This depends on the mapping of the joystick connected to the current port.

Implements GenericHID.

float Joystick::GetY ( JoystickHand hand = kRightHand )

virtual

Get the Y value of the joystick. This depends on the mapping of the joystick connected to the current port.

Implements GenericHID.

float Joystick::GetZ ( )

virtual

Get the Z value of the current joystick. This depends on the mapping of the joystick connected to the current port.

Implements GenericHID.

void Joystick::SetAxisChannel	(	AxisType	axis,
		uint32_t	channel
	)

Set the channel associated with a specified axis.

Parameters

axis	The axis to set the channel for.
channel	The channel to set the axis to.

The documentation for this class was generated from the following files:

Joystick.h
Joystick.cpp

Public Types

Public Member Functions

Static Public Member Functions

Static Public Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation