edu.wpi.first.wpilibj
Class KinectStick

java.lang.Object
  edu.wpi.first.wpilibj.GenericHID
      edu.wpi.first.wpilibj.KinectStick

public class KinectStick
extends GenericHID

Author:

bradmiller Handles input from the Joystick data sent by the FRC Kinect Server when used with a Kinect device connected to the Driver Station. Each time a value is requested the most recent value is returned. Default gestures embedded in the FRC Kinect Server are described in the document Getting Started with Microsoft Kinect for FRC.

Nested Class Summary

Nested classes/interfaces inherited from class edu.wpi.first.wpilibj.GenericHID

GenericHID.Hand

Constructor Summary

KinectStick(int id)
Construct an instance of a KinectStick.

Method Summary

boolean	getBumper(GenericHID.Hand hand) Get the button value for the button set as the default bumper in (@link Joystick)
double	getRawAxis(int axis) Get the value of the KinectStick axis.
boolean	getRawButton(int button) Get the button value for buttons 1 through 12.
double	getThrottle() Get the Throttle value of the KinectStick.
boolean	getTop(GenericHID.Hand hand) Get the button value for the button set as the default top in (@link Joystick)
boolean	getTrigger(GenericHID.Hand hand) Get the button value for the button set as the default trigger in (@link Joystick)
double	getTwist() Get the Twist value of the KinectStick.
double	getX(GenericHID.Hand hand) Get the X value of the KinectStick.
double	getY(GenericHID.Hand hand) Get the Y value of the KinectStick.
double	getZ(GenericHID.Hand hand) Get the Z value of the KinectStick.

Methods inherited from class edu.wpi.first.wpilibj.GenericHID

getBumper, getTop, getTrigger, getX, getY, getZ

Methods inherited from class java.lang.Object

equals, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Constructor Detail

KinectStick

public KinectStick(int id)

Construct an instance of a KinectStick.

Parameters:

id - which KinectStick to read, in the default gestures an id of 1 corresponds to the left arm and 2 to the right arm.

Method Detail

getX

public double getX(GenericHID.Hand hand)

Get the X value of the KinectStick. This axis is unimplemented in the default gestures but can be populated by teams editing the Kinect Server. See (@link Joystick for axis number mapping)

Specified by:

getX in class GenericHID

Parameters:

hand - Unused

Returns:

The X value of the KinectStick

getY

public double getY(GenericHID.Hand hand)

Get the Y value of the KinectStick. This axis represents arm angle in the default gestures See (@link Joystick for axis number mapping)

Specified by:

getY in class GenericHID

Parameters:

hand - Unused

Returns:

The Y value of the KinectStick

getZ

public double getZ(GenericHID.Hand hand)

Get the Z value of the KinectStick. This axis is unimplemented in the default gestures but can be populated by teams editing the Kinect Server. See (@link Joystick for axis number mapping)

Specified by:

getZ in class GenericHID

Parameters:

hand - Unused

Returns:

The Z value of the KinectStick

getTwist

public double getTwist()

Get the Twist value of the KinectStick. This axis is unimplemented in the default gestures but can be populated by teams editing the Kinect Server. See (@link Joystick for axis number mapping)

Specified by:

getTwist in class GenericHID

Returns:

The Twist value of the KinectStick

getThrottle

public double getThrottle()

Get the Throttle value of the KinectStick. This axis is unimplemented in the default gestures but can be populated by teams editing the Kinect Server. See (@link Joystick for axis number mapping)

Specified by:

getThrottle in class GenericHID

Returns:

The Throttle value of the KinectStick

getRawAxis

public double getRawAxis(int axis)

Get the value of the KinectStick axis.

Specified by:

getRawAxis in class GenericHID

Parameters:

axis - The axis to read [1-6].

Returns:

The value of the axis

getTrigger

public boolean getTrigger(GenericHID.Hand hand)

Get the button value for the button set as the default trigger in (@link Joystick)

Specified by:

getTrigger in class GenericHID

Parameters:

hand - Unused

Returns:

The state of the button.

getTop

public boolean getTop(GenericHID.Hand hand)

Get the button value for the button set as the default top in (@link Joystick)

Specified by:

getTop in class GenericHID

Parameters:

hand - Unused

Returns:

The state of the button.

getBumper

public boolean getBumper(GenericHID.Hand hand)

Get the button value for the button set as the default bumper in (@link Joystick)

Specified by:

getBumper in class GenericHID

Parameters:

hand - Unused

Returns:

The state of the button.

getRawButton

public boolean getRawButton(int button)

Get the button value for buttons 1 through 12. The default gestures implement only 9 buttons. The appropriate button is returned as a boolean value.

Specified by:

getRawButton in class GenericHID

Parameters:

button - The button number to be read.

Returns:

The state of the button.