Handle input from standard HID devices connected to the Driver Station. More...

#include <wpi/driverstation/GenericHID.hpp>

Inheritance diagram for wpi::GenericHID:

Public Types
enum	RumbleType { kLeftRumble , kRightRumble , kLeftTriggerRumble , kRightTriggerRumble }
	Represents a rumble output on the Joystick. More...
enum	SupportedOutputs { kNone = 0x0 , kMonoLed = 0x1 , kRgbLed = 0x2 , kPlayerLed = 0x4 , kRumble = 0x8 , kTriggerRumble = 0x10 }
	Represents the various outputs that a HID may support. More...
enum	HIDType { kUnknown = 0 , kStandard , kXbox360 , kXboxOne , kPS3 , kPS4 , kPS5 , kSwitchPro , kSwitchJoyconLeft , kSwitchJoyconRight , kSwitchJoyconPair }
	USB HID interface type. More...

Public Member Functions
	GenericHID (int port)
virtual	~GenericHID ()=default
	GenericHID (GenericHID &&)=default
GenericHID &	operator= (GenericHID &&)=default
bool	GetRawButton (int button) const
	Get the button value (starting at button 1).
bool	GetRawButtonPressed (int button)
	Whether the button was pressed since the last check.
bool	GetRawButtonReleased (int button)
	Whether the button was released since the last check.
BooleanEvent	Button (int button, EventLoop *loop) const
	Constructs an event instance around this button's digital signal.
double	GetRawAxis (int axis) const
	Get the value of the axis.
DriverStation::POVDirection	GetPOV (int pov=0) const
	Get the angle of a POV on the HID.
BooleanEvent	POV (DriverStation::POVDirection angle, EventLoop *loop) const
	Constructs a BooleanEvent instance based around this angle of a POV on the HID.
BooleanEvent	POV (int pov, DriverStation::POVDirection angle, EventLoop *loop) const
	Constructs a BooleanEvent instance based around this angle of a POV on the HID.
BooleanEvent	POVUp (EventLoop *loop) const
	Constructs a BooleanEvent instance based around the up direction of the default (index 0) POV on the HID.
BooleanEvent	POVUpRight (EventLoop *loop) const
	Constructs a BooleanEvent instance based around the up right direction of the default (index 0) POV on the HID.
BooleanEvent	POVRight (EventLoop *loop) const
	Constructs a BooleanEvent instance based around the right direction of the default (index 0) POV on the HID.
BooleanEvent	POVDownRight (EventLoop *loop) const
	Constructs a BooleanEvent instance based around the down right direction of the default (index 0) POV on the HID.
BooleanEvent	POVDown (EventLoop *loop) const
	Constructs a BooleanEvent instance based around the down direction of the default (index 0) POV on the HID.
BooleanEvent	POVDownLeft (EventLoop *loop) const
	Constructs a BooleanEvent instance based around the down left direction of the default (index 0) POV on the HID.
BooleanEvent	POVLeft (EventLoop *loop) const
	Constructs a BooleanEvent instance based around the left direction of the default (index 0) POV on the HID.
BooleanEvent	POVUpLeft (EventLoop *loop) const
	Constructs a BooleanEvent instance based around the up left direction of the default (index 0) POV on the HID.
BooleanEvent	POVCenter (EventLoop *loop) const
	Constructs a BooleanEvent instance based around the center (not pressed) of the default (index 0) POV on the HID.
BooleanEvent	AxisLessThan (int axis, double threshold, EventLoop *loop) const
	Constructs an event instance that is true when the axis value is less than threshold.
BooleanEvent	AxisGreaterThan (int axis, double threshold, EventLoop *loop) const
	Constructs an event instance that is true when the axis value is greater than threshold.
int	GetAxesMaximumIndex () const
int	GetAxesAvailable () const
	Get the number of axes for the HID.
int	GetPOVsMaximumIndex () const
int	GetPOVsAvailable () const
	Get the number of POVs for the HID.
int	GetButtonsMaximumIndex () const
uint64_t	GetButtonsAvailable () const
	Get the number of buttons for the HID.
bool	IsConnected () const
	Get if the HID is connected.
GenericHID::HIDType	GetGamepadType () const
	Get the type of the HID.
GenericHID::SupportedOutputs	GetSupportedOutputs () const
	Get the supported outputs of the HID.
std::string	GetName () const
	Get the name of the HID.
int	GetPort () const
	Get the port number of the HID.
void	SetLeds (int r, int g, int b)
	Set leds on the controller.
void	SetRumble (RumbleType type, double value)
	Set the rumble output for the HID.
bool	GetTouchpadFingerAvailable (int touchpad, int finger) const
	Check if a touchpad finger is available.
DriverStation::TouchpadFinger	GetTouchpadFinger (int touchpad, int finger) const
	Get the touchpad finger data.

Detailed Description

Handle input from standard HID devices connected to the Driver Station.

This class handles standard input that comes from the Driver Station. Each time a value is requested the most recent value is returned. There is a single class instance for each device and the mapping of ports to hardware buttons depends on the code in the Driver Station.

Member Enumeration Documentation

◆ HIDType

enum wpi::GenericHID::HIDType

USB HID interface type.

Enumerator
kUnknown	Unknown.
kStandard	Standard HID device.
kXbox360	Xbox 360 controller.
kXboxOne	Xbox One controller.
kPS3	PS3 controller.
kPS4	PS4 controller.
kPS5	PS5 controller.
kSwitchPro	Nintendo Switch Pro controller.
kSwitchJoyconLeft	Nintendo Switch Joycon Left controller.
kSwitchJoyconRight	Nintendo Switch Joycon Right controller.
kSwitchJoyconPair	Nintendo Switch Joycon controller pair.

◆ RumbleType

enum wpi::GenericHID::RumbleType

Represents a rumble output on the Joystick.

Enumerator
kLeftRumble	Left rumble motor.
kRightRumble	Right rumble motor.
kLeftTriggerRumble	Left trigger rumble motor.
kRightTriggerRumble	Right trigger rumble motor.

◆ SupportedOutputs

enum wpi::GenericHID::SupportedOutputs

Represents the various outputs that a HID may support.

Enumerator
kNone	No outputs supported.
kMonoLed	Mono LED support.
kRgbLed	RGB LED support.
kPlayerLed	Player LED support.
kRumble	Rumble support.
kTriggerRumble	Trigger rumble support.

Constructor & Destructor Documentation

◆ GenericHID() [1/2]

wpi::GenericHID::GenericHID ( int port )

explicit

◆ ~GenericHID()

virtual wpi::GenericHID::~GenericHID ( )

virtualdefault

◆ GenericHID() [2/2]

wpi::GenericHID::GenericHID ( GenericHID && )

default

Member Function Documentation

◆ AxisGreaterThan()

BooleanEvent wpi::GenericHID::AxisGreaterThan	(	int	axis,
		double	threshold,
		EventLoop *	loop ) const

Constructs an event instance that is true when the axis value is greater than threshold.

Parameters

axis	The axis to read, starting at 0.
threshold	The value above which this trigger should return true.
loop	the event loop instance to attach the event to.

Returns: an event instance that is true when the axis value is greater than the provided threshold.

◆ AxisLessThan()

BooleanEvent wpi::GenericHID::AxisLessThan	(	int	axis,
		double	threshold,
		EventLoop *	loop ) const

Constructs an event instance that is true when the axis value is less than threshold.

Parameters

axis	The axis to read, starting at 0.
threshold	The value below which this trigger should return true.
loop	the event loop instance to attach the event to.

Returns: an event instance that is true when the axis value is less than the provided threshold.

◆ Button()

BooleanEvent wpi::GenericHID::Button	(	int	button,
		EventLoop *	loop ) const

Constructs an event instance around this button's digital signal.

Parameters

button	the button index
loop	the event loop instance to attach the event to.

Returns: an event instance representing the button's digital signal attached to the given loop.

◆ GetAxesAvailable()

int wpi::GenericHID::GetAxesAvailable ( ) const

Get the number of axes for the HID.

Returns: the number of axis for the current HID

◆ GetAxesMaximumIndex()

int wpi::GenericHID::GetAxesMaximumIndex ( ) const

◆ GetButtonsAvailable()

uint64_t wpi::GenericHID::GetButtonsAvailable ( ) const

Get the number of buttons for the HID.

Returns: the number of buttons on the current HID

◆ GetButtonsMaximumIndex()

int wpi::GenericHID::GetButtonsMaximumIndex ( ) const

◆ GetGamepadType()

GenericHID::HIDType wpi::GenericHID::GetGamepadType ( ) const

Get the type of the HID.

Returns: the type of the HID.

◆ GetName()

std::string wpi::GenericHID::GetName ( ) const

Get the name of the HID.

Returns: the name of the HID.

◆ GetPort()

int wpi::GenericHID::GetPort ( ) const

Get the port number of the HID.

Returns: The port number of the HID.

◆ GetPOV()

DriverStation::POVDirection wpi::GenericHID::GetPOV ( int pov = 0 ) const

Get the angle of a POV on the HID.

Parameters

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

Returns: the angle of the POV.

◆ GetPOVsAvailable()

int wpi::GenericHID::GetPOVsAvailable ( ) const

Get the number of POVs for the HID.

Returns: the number of POVs for the current HID

◆ GetPOVsMaximumIndex()

int wpi::GenericHID::GetPOVsMaximumIndex ( ) const

◆ GetRawAxis()

double wpi::GenericHID::GetRawAxis ( int axis ) const

Get the value of the axis.

Parameters

axis	The axis to read, starting at 0.

Returns: The value of the axis.

◆ GetRawButton()

bool wpi::GenericHID::GetRawButton ( int button ) const

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.

This method returns true if the button is being held down at the time that this method is being called.

Parameters

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

Returns: The state of the button.

◆ GetRawButtonPressed()

bool wpi::GenericHID::GetRawButtonPressed ( int button )

Whether the button was pressed since the last check.

Button indexes begin at 1.

This method returns true if the button went from not pressed to held down since the last time this method was called. This is useful if you only want to call a function once when you press the button.

Parameters

button The button index, beginning at 0.

Returns: Whether the button was pressed since the last check.

◆ GetRawButtonReleased()

bool wpi::GenericHID::GetRawButtonReleased ( int button )

Whether the button was released since the last check.

Button indexes begin at 1.

This method returns true if the button went from held down to not pressed since the last time this method was called. This is useful if you only want to call a function once when you release the button.

Parameters

button The button index, beginning at 0.

Returns: Whether the button was released since the last check.

◆ GetSupportedOutputs()

GenericHID::SupportedOutputs wpi::GenericHID::GetSupportedOutputs ( ) const

Get the supported outputs of the HID.

Returns: the supported outputs of the HID.

◆ GetTouchpadFinger()

DriverStation::TouchpadFinger wpi::GenericHID::GetTouchpadFinger	(	int	touchpad,
		int	finger ) const

Get the touchpad finger data.

Parameters

touchpad	The touchpad to read.
finger	The finger to read.

Returns: The touchpad finger data.

◆ GetTouchpadFingerAvailable()

bool wpi::GenericHID::GetTouchpadFingerAvailable	(	int	touchpad,
		int	finger ) const

Check if a touchpad finger is available.

Parameters

touchpad	The touchpad to check.
finger	The finger to check.

Returns: true if the touchpad finger is available.

◆ IsConnected()

bool wpi::GenericHID::IsConnected ( ) const

Get if the HID is connected.

Returns: true if the HID is connected

◆ operator=()

GenericHID & wpi::GenericHID::operator= ( GenericHID && )

default

◆ POV() [1/2]

BooleanEvent wpi::GenericHID::POV	(	DriverStation::POVDirection	angle,
		EventLoop *	loop ) const

Constructs a BooleanEvent instance based around this angle of a POV on the HID.

Parameters

loop	the event loop instance to attach the event to.
angle	POV angle.

Returns: a BooleanEvent instance based around this angle of a POV on the HID.

◆ POV() [2/2]

BooleanEvent wpi::GenericHID::POV	(	int	pov,
		DriverStation::POVDirection	angle,
		EventLoop *	loop ) const

Constructs a BooleanEvent instance based around this angle of a POV on the HID.

Parameters

loop	the event loop instance to attach the event to.
pov	index of the POV to read (starting at 0). Defaults to 0.
angle	POV angle.

Returns: a BooleanEvent instance based around this angle of a POV on the HID.

◆ POVCenter()

BooleanEvent wpi::GenericHID::POVCenter ( EventLoop * loop ) const

Constructs a BooleanEvent instance based around the center (not pressed) of the default (index 0) POV on the HID.

Returns: a BooleanEvent instance based around the center of a POV on the HID.

◆ POVDown()

BooleanEvent wpi::GenericHID::POVDown ( EventLoop * loop ) const

Constructs a BooleanEvent instance based around the down direction of the default (index 0) POV on the HID.

Returns: a BooleanEvent instance based around the down direction of a POV on the HID.

◆ POVDownLeft()

BooleanEvent wpi::GenericHID::POVDownLeft ( EventLoop * loop ) const

Constructs a BooleanEvent instance based around the down left direction of the default (index 0) POV on the HID.

Returns: a BooleanEvent instance based around the down left direction of a POV on the HID.

◆ POVDownRight()

BooleanEvent wpi::GenericHID::POVDownRight ( EventLoop * loop ) const

Constructs a BooleanEvent instance based around the down right direction of the default (index 0) POV on the HID.

Returns: a BooleanEvent instance based around the down right direction of a POV on the HID.

◆ POVLeft()

BooleanEvent wpi::GenericHID::POVLeft ( EventLoop * loop ) const

Constructs a BooleanEvent instance based around the left direction of the default (index 0) POV on the HID.

Returns: a BooleanEvent instance based around the left direction of a POV on the HID.

◆ POVRight()

BooleanEvent wpi::GenericHID::POVRight ( EventLoop * loop ) const

Constructs a BooleanEvent instance based around the right direction of the default (index 0) POV on the HID.

Returns: a BooleanEvent instance based around the right direction of a POV on the HID.

◆ POVUp()

BooleanEvent wpi::GenericHID::POVUp ( EventLoop * loop ) const

Constructs a BooleanEvent instance based around the up direction of the default (index 0) POV on the HID.

Returns: a BooleanEvent instance based around the up direction of a POV on the HID.

◆ POVUpLeft()

BooleanEvent wpi::GenericHID::POVUpLeft ( EventLoop * loop ) const

Constructs a BooleanEvent instance based around the up left direction of the default (index 0) POV on the HID.

Returns: a BooleanEvent instance based around the up left direction of a POV on the HID.

◆ POVUpRight()

BooleanEvent wpi::GenericHID::POVUpRight ( EventLoop * loop ) const

Constructs a BooleanEvent instance based around the up right direction of the default (index 0) POV on the HID.

Returns: a BooleanEvent instance based around the up right direction of a POV on the HID.

◆ SetLeds()

void wpi::GenericHID::SetLeds	(	int	r,
		int	g,
		int	b )

Set leds on the controller.

If only mono is supported, the system will use the highest value passed in.

Parameters

r	Red value from 0-255
g	Green value from 0-255
b	Blue value from 0-255

◆ SetRumble()

void wpi::GenericHID::SetRumble	(	RumbleType	type,
		double	value )

Set the rumble output for the HID.

The DS currently supports 4 rumble values: left rumble, right rumble, left trigger rumble, and right trigger rumble.

Parameters

type	Which rumble value to set
value	The normalized value (0 to 1) to set the rumble to

The documentation for this class was generated from the following file:

wpi/driverstation/GenericHID.hpp

Public Types

Public Member Functions

Detailed Description

Member Enumeration Documentation

◆ HIDType

◆ RumbleType

◆ SupportedOutputs

Constructor & Destructor Documentation

◆ GenericHID() [1/2]

◆ ~GenericHID()

◆ GenericHID() [2/2]

Member Function Documentation

◆ AxisGreaterThan()

◆ AxisLessThan()

◆ Button()

◆ GetAxesAvailable()

◆ GetAxesMaximumIndex()

◆ GetButtonsAvailable()

◆ GetButtonsMaximumIndex()

◆ GetGamepadType()

◆ GetName()

◆ GetPort()

◆ GetPOV()

◆ GetPOVsAvailable()

◆ GetPOVsMaximumIndex()

◆ GetRawAxis()

◆ GetRawButton()

◆ GetRawButtonPressed()

◆ GetRawButtonReleased()

◆ GetSupportedOutputs()

◆ GetTouchpadFinger()

◆ GetTouchpadFingerAvailable()

◆ IsConnected()

◆ operator=()

◆ POV() [1/2]

◆ POV() [2/2]

◆ POVCenter()

◆ POVDown()

◆ POVDownLeft()

◆ POVDownRight()

◆ POVLeft()

◆ POVRight()

◆ POVUp()

◆ POVUpLeft()

◆ POVUpRight()

◆ SetLeds()

◆ SetRumble()