edu.wpi.first.wpilibj

Class GenericHID

java.lang.Object

edu.wpi.first.wpilibj.GenericHID

Direct Known Subclasses:

GamepadBase, Joystick, JoystickBase, XboxController

public abstract class GenericHID
extends java.lang.Object

GenericHID Interface.

Nested Class Summary

Nested Classes

Modifier and Type	Class and Description
static class	GenericHID.Hand Which hand the Human Interface Device is associated with.
static class	GenericHID.HIDType
static class	GenericHID.RumbleType Represents a rumble output on the JoyStick.

Constructor Summary

Constructors

Constructor and Description
GenericHID(int port)

Method Summary

Modifier and Type	Method and Description
int	getAxisCount() Get the number of axes for the HID.
int	getAxisType(int axis) Get the axis type of a joystick axis.
int	getButtonCount() For the current HID, return the number of buttons.
java.lang.String	getName() Get the name of the HID.
int	getPort() Get the port number of the HID.
int	getPOV()
int	getPOV(int pov) Get the angle in degrees of a POV on the HID.
int	getPOVCount() For the current HID, return the number of POVs.
double	getRawAxis(int axis) Get the value of the axis.
boolean	getRawButton(int button) Get the button value (starting at button 1).
boolean	getRawButtonPressed(int button) Whether the button was pressed since the last check.
boolean	getRawButtonReleased(int button) Whether the button was released since the last check.
GenericHID.HIDType	getType() Get the type of the HID.
double	getX() Get the x position of the HID.
abstract double	getX(GenericHID.Hand hand) Get the x position of HID.
double	getY() Get the y position of the HID.
abstract double	getY(GenericHID.Hand hand) Get the y position of the HID.
void	setOutput(int outputNumber, boolean value) Set a single HID output value for the HID.
void	setOutputs(int value) Set all HID output values for the HID.
void	setRumble(GenericHID.RumbleType type, double value) Set the rumble output for the HID.

Methods inherited from class java.lang.Object

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

Constructor Detail

GenericHID

public GenericHID(int port)

Method Detail

getX

public final double getX()

Get the x position of the HID.

Returns:

the x position of the HID

getX

public abstract double getX(GenericHID.Hand hand)

Get the x position of HID.

Parameters:

hand - which hand, left or right

Returns:

the x position

getY

public final double getY()

Get the y position of the HID.

Returns:

the y position

getY

public abstract double getY(GenericHID.Hand hand)

Get the y position of the HID.

Parameters:

hand - which hand, left or right

Returns:

the y position

getRawButton

public boolean getRawButton(int button)

Get the button value (starting at button 1).

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.

Parameters:

button - The button number to be read (starting at 1)

Returns:

The state of the button.

getRawButtonPressed

public boolean getRawButtonPressed(int button)

Whether the button was pressed since the last check. Button indexes begin at 1.

Parameters:

button - The button index, beginning at 1.

Returns:

Whether the button was pressed since the last check.

getRawButtonReleased

public boolean getRawButtonReleased(int button)

Whether the button was released since the last check. Button indexes begin at 1.

Parameters:

button - The button index, beginning at 1.

Returns:

Whether the button was released since the last check.

getRawAxis

public double getRawAxis(int axis)

Get the value of the axis.

Parameters:

axis - The axis to read, starting at 0.

Returns:

The value of the axis.

getPOV

public int getPOV(int pov)

Get the angle in degrees of a POV on the HID.

The POV angles start at 0 in the up direction, and increase clockwise (eg right is 90, upper-left is 315).

Parameters:

pov - The index of the POV to read (starting at 0)

Returns:

the angle of the POV in degrees, or -1 if the POV is not pressed.

getPOV

public int getPOV()

getAxisCount

public int getAxisCount()

Get the number of axes for the HID.

Returns:

the number of axis for the current HID

getPOVCount

public int getPOVCount()

For the current HID, return the number of POVs.

getButtonCount

public int getButtonCount()

For the current HID, return the number of buttons.

getType

public GenericHID.HIDType getType()

Get the type of the HID.

Returns:

the type of the HID.

getName

public java.lang.String getName()

Get the name of the HID.

Returns:

the name of the HID.

getAxisType

public int getAxisType(int axis)

Get the axis type of a joystick axis.

Returns:

the axis type of a joystick axis.

getPort

public int getPort()

Get the port number of the HID.

Returns:

The port number of the HID.

setOutput

public void setOutput(int outputNumber,
                      boolean value)

Set a single HID output value for the HID.

Parameters:

outputNumber - The index of the output to set (1-32)

value - The value to set the output to

setOutputs

public void setOutputs(int value)

Set all HID output values for the HID.

Parameters:

value - The 32 bit output value (1 bit for each output)

setRumble

public void setRumble(GenericHID.RumbleType type,
                      double value)

Set the rumble output for the HID. The DS currently supports 2 rumble values, left rumble and right rumble.

Parameters:

type - Which rumble value to set

value - The normalized value (0 to 1) to set the rumble to