KinectStick Class Reference

#include <KinectStick.h>

Inheritance diagram for KinectStick:

Public Member Functions
	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_t axis)
virtual bool	GetTrigger (JoystickHand hand=kRightHand)
virtual bool	GetTop (JoystickHand hand=kRightHand)
virtual bool	GetBumper (JoystickHand hand=kRightHand)
virtual bool	GetRawButton (uint32_t button)
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...

Additional Inherited Members
Public Types inherited from GenericHID
enum	JoystickHand { kLeftHand = 0, kRightHand = 1 }
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 ()
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

Handles input from the Joystick data sent by the FRC Kinect Server when used with a Kinect device connected to the Driver Station. Each time a value is requested the most recent value is returned. Default gestures embedded in the FRC Kinect Server are described in the document Getting Started with Microsoft Kinect for FRC.

Constructor & Destructor Documentation

KinectStick::KinectStick ( int  id )

explicit

Kinect joystick constructor

Parameters

id	value is either 1 or 2 for the left or right joystick decoded from gestures interpreted by the Kinect server on the Driver Station computer.

Member Function Documentation

bool KinectStick::GetBumper ( JoystickHand  hand = kRightHand )

virtual

Get the button value for the button set as the default bumper (button 4)

Parameters

hand

Unused

Returns

The state of the button.

Implements GenericHID.

float KinectStick::GetRawAxis ( uint32_t  axis )

virtual

Get the value of the KinectStick axis.

Parameters

axis	The axis to read [1-6].

Returns

The value of the axis

Implements GenericHID.

bool KinectStick::GetRawButton ( uint32_t  button )

virtual

Get the button value for buttons 1 through 12. The default gestures implement only 9 buttons.

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 KinectStick::GetThrottle ( )

virtual

Get the Throttle value of the KinectStick. This axis is unimplemented in the default gestures but can be populated by teams editing the Kinect Server.

Returns

The Throttle value of the KinectStick

Implements GenericHID.

bool KinectStick::GetTop ( JoystickHand  hand = kRightHand )

virtual

Get the button value for the button set as the default top

Parameters

hand

Unused

Returns

The state of the button.

Implements GenericHID.

bool KinectStick::GetTrigger ( JoystickHand  hand = kRightHand )

virtual

Get the button value for the button set as the default trigger

Parameters

hand

Unused

Returns

The state of the button.

Implements GenericHID.

float KinectStick::GetTwist ( )

virtual

Get the Twist value of the KinectStick. This axis is unimplemented in the default gestures but can be populated by teams editing the Kinect Server.

Returns

The Twist value of the KinectStick

Implements GenericHID.

float KinectStick::GetX ( JoystickHand  hand = kRightHand )

virtual

Get the X value of the KinectStick. This axis is unimplemented in the default gestures but can be populated by teams editing the Kinect Server.

Parameters

hand

Unused

Returns

The X value of the KinectStick

Implements GenericHID.

float KinectStick::GetY ( JoystickHand  hand = kRightHand )

virtual

Get the Y value of the KinectStick. This axis represents arm angle in the default gestures

Parameters

hand

Unused

Returns

The Y value of the KinectStick

Implements GenericHID.

float KinectStick::GetZ ( )

virtual

Get the Z value of the KinectStick. This axis is unimplemented in the default gestures but can be populated by teams editing the Kinect Server.

Parameters

hand

Unused

Returns

The Z value of the KinectStick

Implements GenericHID.

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

• KinectStick.h
• KinectStick.cpp