/**
* Get the value of the axis on a joystick.
* This depends on the mapping of the joystick connected to the specified port.
*
* @param stick The joystick to read.
* @param axis The analog axis value to read from the joystick.
* @return The value of the axis on the joystick.
*/
float DriverStation::GetStickAxis(uint32_t stick, uint32_t axis)
{
if (stick >= kJoystickPorts)
{
wpi_setWPIError(BadJoystickIndex);
return 0;
}
if (axis >= m_joystickAxes[stick].count)
{
if (axis >= kMaxJoystickAxes)
wpi_setWPIError(BadJoystickAxis);
else
ReportJoystickUnpluggedError("WARNING: Joystick Axis missing, check if all controllers are plugged in\n");
return 0.0f;
}
int8_t value = m_joystickAxes[stick].axes[axis];
if(value < 0)
{
return value / 128.0f;
}
else
{
return value / 127.0f;
}
}
/**
* The state of one joystick button. Button indexes begin at 1.
*
* @param stick The joystick to read.
* @param button The button index, beginning at 1.
* @return The state of the joystick button.
*/
bool DriverStation::GetStickButton(uint32_t stick, uint8_t button) {
if (stick >= kJoystickPorts) {
wpi_setWPIError(BadJoystickIndex);
return false;
}
if (button > m_joystickButtons[stick].count) {
ReportJoystickUnpluggedError(
"WARNING: Joystick Button missing, check if all controllers are "
"plugged in\n");
return false;
}
if (button == 0) {
ReportJoystickUnpluggedError(
"ERROR: Button indexes begin at 1 in WPILib for C++ and Java");
return false;
}
return ((0x1 << (button - 1)) & m_joystickButtons[stick].buttons) != 0;
}
/**
* Get the state of a POV on the joystick.
*
* @return the angle of the POV in degrees, or -1 if the POV is not pressed.
*/
int DriverStation::GetStickPOV(uint32_t stick, uint32_t pov) {
if (stick >= kJoystickPorts)
{
wpi_setWPIError(BadJoystickIndex);
return -1;
}
if (pov >= m_joystickPOVs[stick].count)
{
if (pov >= kMaxJoystickPOVs)
wpi_setWPIError(BadJoystickAxis);
else
ReportJoystickUnpluggedError("WARNING: Joystick POV missing, check if all controllers are plugged in\n");
return -1;
}
return m_joystickPOVs[stick].povs[pov];
}
