Now you can download a copy of these docs so you can use them offline! Download now
KinectStick.h
1 /*----------------------------------------------------------------------------*/
2 /* Copyright (c) FIRST 2011. All Rights Reserved. */
3 /* Open Source Software - may be modified and shared by FRC teams. The code */
4 /* must be accompanied by the FIRST BSD license file in $(WIND_BASE)/WPILib. */
5 /*----------------------------------------------------------------------------*/
6 
7 #ifndef __KINECT_STICK_H__
8 #define __KINECT_STICK_H__
9 
10 #include "ErrorBase.h"
11 #include "GenericHID.h"
12 
20 class KinectStick : public GenericHID, public ErrorBase
21 {
22 public:
23  explicit KinectStick(int id);
24  virtual float GetX(JoystickHand hand = kRightHand);
25  virtual float GetY(JoystickHand hand = kRightHand);
26  virtual float GetZ();
27  virtual float GetTwist();
28  virtual float GetThrottle();
29  virtual float GetRawAxis(uint32_t axis);
30 
31  virtual bool GetTrigger(JoystickHand hand = kRightHand);
32  virtual bool GetTop(JoystickHand hand = kRightHand);
33  virtual bool GetBumper(JoystickHand hand = kRightHand);
34  virtual bool GetRawButton(uint32_t button);
35 
36 private:
37  void GetData();
38  float ConvertRawToFloat(int8_t charValue);
39 
40  typedef union
41  {
42  struct
43  {
44  uint8_t size;
45  uint8_t id;
46  struct
47  {
48  unsigned char axis[6];
49  unsigned short buttons;
50  } rawSticks[2];
51  } formatted;
52  char data[18];
53  } KinectStickData;
54 
55  int m_id;
56  static uint32_t _recentPacketNumber;
57  static KinectStickData _sticks;
58 };
59 
60 #endif
61 
virtual float GetY(JoystickHand hand=kRightHand)
Definition: KinectStick.cpp:58
virtual float GetZ()
Definition: KinectStick.cpp:70
virtual float GetRawAxis(uint32_t axis)
virtual bool GetBumper(JoystickHand hand=kRightHand)
virtual float GetTwist()
Definition: KinectStick.cpp:81
virtual bool GetTop(JoystickHand hand=kRightHand)
virtual bool GetRawButton(uint32_t button)
KinectStick(int id)
Definition: KinectStick.cpp:28
virtual bool GetTrigger(JoystickHand hand=kRightHand)
virtual float GetX(JoystickHand hand=kRightHand)
Definition: KinectStick.cpp:47
virtual float GetThrottle()
Definition: KinectStick.cpp:92

Generated on Sat Apr 26 2014 12:26:45 for WPILibC++ by doxygen 1.8.6