/**
* Returns the number of axes on a given joystick port
*
* @param stick The joystick port number
* @return The number of axes on the indicated joystick
*/
int DriverStation::GetStickAxisCount(uint32_t stick) const {
if (stick >= kJoystickPorts) {
wpi_setWPIError(BadJoystickIndex);
return 0;
}
HALJoystickAxes joystickAxes;
HALGetJoystickAxes(stick, &joystickAxes);
return joystickAxes.count;
}
/**
* Copy data from the DS task for the user.
* If no new data exists, it will just be returned, otherwise
* the data will be copied from the DS polling loop.
*/
void DriverStation::GetData() {
// Get the status of all of the joysticks
for (uint8_t stick = 0; stick < kJoystickPorts; stick++) {
HALGetJoystickAxes(stick, &m_joystickAxes[stick]);
HALGetJoystickPOVs(stick, &m_joystickPOVs[stick]);
HALGetJoystickButtons(stick, &m_joystickButtons[stick]);
HALGetJoystickDescriptor(stick, &m_joystickDescriptor[stick]);
}
m_newControlData.give();
}
/**
* Copy data from the DS task for the user.
* If no new data exists, it will just be returned, otherwise
* the data will be copied from the DS polling loop.
*/
void DriverStation::GetData()
{
// Get the status of all of the joysticks
for(uint8_t stick = 0; stick < kJoystickPorts; stick++) {
HALGetJoystickAxes(stick, &m_joystickAxes[stick]);
HALGetJoystickPOVs(stick, &m_joystickPOVs[stick]);
HALGetJoystickButtons(stick, &m_joystickButtons[stick]);
}
giveSemaphore(m_newControlData);
}