Joystick.h

/*----------------------------------------------------------------------------*/
/* Copyright (c) FIRST 2008. All Rights Reserved.                                                         */
/* Open Source Software - may be modified and shared by FRC teams. The code   */
/* must be accompanied by the FIRST BSD license file in $(WIND_BASE)/WPILib.  */
/*----------------------------------------------------------------------------*/

#ifndef JOYSTICK_H_
#define JOYSTICK_H_

#include "GenericHID.h"
#include "ErrorBase.h"

class DriverStation;

class Joystick : public GenericHID, public ErrorBase
{
public:
        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;
        typedef enum
        {
                kXAxis, kYAxis, kZAxis, kTwistAxis, kThrottleAxis, kNumAxisTypes
        } AxisType;
        static const uint32_t kDefaultTriggerButton = 1;
        static const uint32_t kDefaultTopButton = 2;
        typedef enum
        {
                kTriggerButton, kTopButton, kNumButtonTypes
        } ButtonType;

        explicit Joystick(uint32_t port);
        Joystick(uint32_t port, uint32_t numAxisTypes, uint32_t numButtonTypes);
        virtual ~Joystick();

        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);
        static Joystick* GetStickForPort(uint32_t port);
        
        virtual float GetMagnitude();
        virtual float GetDirectionRadians();
        virtual float GetDirectionDegrees();

private:
        DISALLOW_COPY_AND_ASSIGN(Joystick);
        void InitJoystick(uint32_t numAxisTypes, uint32_t numButtonTypes);

        DriverStation *m_ds;
        uint32_t m_port;
        uint32_t *m_axes;
        uint32_t *m_buttons;
};

#endif