TSensorModes
/*
* Spooler_10-21.c ~
* Alex Jones for team 5105 Buffalo Wings
*
* Description: a simple unit test for the spooler that Raj has created
*
* Uses: to test the gear config on the test equipment.
*
* Dependancies: NONE
*
* ~licensed under the MIT license included in this repositiory
*/
#include "JoystickDriver.c"
#include "../motors/SetMotor.fn"
#include "../controller/GetJoystick.fn"
task main()
{
while(true)
{
getJoystickSettings(joystick);
setMotor(spoolLeft, getJoystick(1, 1, 'y')/1.28);
setMotor(spoolRight, getJoystick(1, 1, 'y')/1.28);
}
}
/**
* Get the Z value of the current joystick.
* This depends on the mapping of the joystick connected to the current port.
*
* @param port The USB port for this joystick.
*/
float GetZ(UINT32 port)
{
Joystick *stick = getJoystick(port);
if (stick == NULL)
return 0;
return stick->GetZ();
}
/**
* Set the channel associated with a specified axis.
*
* @param port The USB port for this joystick.
* @param axis The axis to set the channel for.
* @param channel The channel to set the axis to.
*/
void SetAxisChannel(UINT32 port, AxisType axis, UINT32 channel)
{
Joystick *stick = getJoystick(port);
if (stick == NULL)
return;
stick->SetAxisChannel((Joystick::AxisType) axis, channel);
}
/**
* Get the Y value of the joystick.
* This depends on the mapping of the joystick connected to the current port.
*
* @param port The USB port for this joystick.
*/
float GetY(UINT32 port, JoystickHand hand)
{
Joystick *stick = getJoystick(port);
if (stick == NULL)
return 0;
return stick->GetY((Joystick::JoystickHand) hand);
}
/**
* 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.
*
* @param port The USB port for this joystick.
* @param button The button number to be read.
* @return The state of the button.
**/
bool GetRawButton(UINT32 port, UINT32 button)
{
Joystick *stick = getJoystick(port);
if (stick == NULL)
return 0;
return stick->GetRawButton(button);
}
/**
* Get the channel currently associated with the specified axis.
*
* @param port The USB port for this joystick.
* @param axis The axis to look up the channel for.
* @return The channel fr the axis.
*/
UINT32 GetAxisChannel(UINT32 port, AxisType axis)
{
Joystick *stick = getJoystick(port);
if (stick == NULL)
return 0;
return stick->GetAxisChannel((Joystick::AxisType) axis);
}
/**
* Get buttons based on an enumerated type.
*
* The button type will be looked up in the list of buttons and then read.
*
* @param port The USB port for this joystick.
* @param button The type of button to read.
* @return The state of the button.
*/
bool GetButton(UINT32 port, ButtonType button)
{
Joystick *stick = getJoystick(port);
if (stick == NULL)
return 0;
return stick->GetButton((Joystick::ButtonType) button);
}
/**
* This is not supported for the Joystick.
* This method is only here to complete the GenericHID interface.
*
* @param port The USB port for this joystick.
*/
bool GetBumper(UINT32 port, JoystickHand hand)
{
Joystick *stick = getJoystick(port);
if (stick == NULL)
return 0;
return stick->GetBumper((Joystick::JoystickHand) hand);
}
/**
* Get the value of the axis.
*
* @param port The USB port for this joystick.
* @param axis The axis to read [1-6].
* @return The value of the axis.
*/
float GetRawAxis(UINT32 port, UINT32 axis)
{
Joystick *stick = getJoystick(port);
if (stick == NULL)
return 0;
return stick->GetRawAxis(axis);
}
/*************************************************************************
Function: main()
**************************************************************************/
int main(void){
init_wyvern();
LED_green_on();
LED_ucgreen_on();
char input;
menuScreen = 'a';
for( ; ; ){
printMenu();
input = '0';
outgoing.command = input;
if(DataInReceiveBuffer()){
input = ReceiveByte();
}
getJoystick();
controllerCommand(input);
controllerTransmit();
_delay_ms(5);
if(incoming.battery < 100){
LED_red_toggle();
LED_ucred_toggle();
LED_blue_toggle();
LED_yellow_toggle();
LED_green_toggle();
}
}
return 0;
}
uintf initJoysticks(void)
{ uintf numJoysticks = 0;
joystick = joystickData;
while (numJoysticks<maxJoysticks)
{ joystick[numJoysticks].Connected = true;
getJoystick(numJoysticks);
if (!joystick[numJoysticks].Connected) return numJoysticks;
else numJoysticks++;
}
return numJoysticks;
}
