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

#include <frc/GenericHID.h>

Inheritance diagram for frc::GenericHID:

Public Types
enum	RumbleType { kLeftRumble , kRightRumble , kBothRumble }
	Represents a rumble output on the Joystick. More...

enum	HIDType { kUnknown = -1 , kXInputUnknown = 0 , kXInputGamepad = 1 , kXInputWheel = 2 , kXInputArcadeStick = 3 , kXInputFlightStick = 4 , kXInputDancePad = 5 , kXInputGuitar = 6 , kXInputGuitar2 = 7 , kXInputDrumKit = 8 , kXInputGuitar3 = 11 , kXInputArcadePad = 19 , kHIDJoystick = 20 , kHIDGamepad = 21 , kHIDDriving = 22 , kHIDFlight = 23 , kHID1stPerson = 24 }
	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). More...

bool	GetRawButtonPressed (int button)
	Whether the button was pressed since the last check. More...

bool	GetRawButtonReleased (int button)
	Whether the button was released since the last check. More...

BooleanEvent	Button (int button, EventLoop *loop) const
	Constructs an event instance around this button's digital signal. More...

double	GetRawAxis (int axis) const
	Get the value of the axis. More...

int	GetPOV (int pov=0) const
	Get the angle in degrees of a POV on the HID. More...

BooleanEvent	POV (int angle, EventLoop *loop) const
	Constructs a BooleanEvent instance based around this angle of a POV on the HID. More...

BooleanEvent	POV (int pov, int angle, EventLoop *loop) const
	Constructs a BooleanEvent instance based around this angle of a POV on the HID. More...

BooleanEvent	POVUp (EventLoop *loop) const
	Constructs a BooleanEvent instance based around the 0 degree angle (up) of the default (index 0) POV on the HID. More...

BooleanEvent	POVUpRight (EventLoop *loop) const
	Constructs a BooleanEvent instance based around the 45 degree angle (right up) of the default (index 0) POV on the HID. More...

BooleanEvent	POVRight (EventLoop *loop) const
	Constructs a BooleanEvent instance based around the 90 degree angle (right) of the default (index 0) POV on the HID. More...

BooleanEvent	POVDownRight (EventLoop *loop) const
	Constructs a BooleanEvent instance based around the 135 degree angle (right down) of the default (index 0) POV on the HID. More...

BooleanEvent	POVDown (EventLoop *loop) const
	Constructs a BooleanEvent instance based around the 180 degree angle (down) of the default (index 0) POV on the HID. More...

BooleanEvent	POVDownLeft (EventLoop *loop) const
	Constructs a BooleanEvent instance based around the 225 degree angle (down left) of the default (index 0) POV on the HID. More...

BooleanEvent	POVLeft (EventLoop *loop) const
	Constructs a BooleanEvent instance based around the 270 degree angle (left) of the default (index 0) POV on the HID. More...

BooleanEvent	POVUpLeft (EventLoop *loop) const
	Constructs a BooleanEvent instance based around the 315 degree angle (left up) of the default (index 0) POV on the HID. More...

BooleanEvent	POVCenter (EventLoop *loop) const
	Constructs a BooleanEvent instance based around the center (not pressed) of the default (index 0) POV on the HID. More...

BooleanEvent	AxisLessThan (int axis, double threshold, EventLoop *loop) const
	Constructs an event instance that is true when the axis value is less than threshold. More...

BooleanEvent	AxisGreaterThan (int axis, double threshold, EventLoop *loop) const
	Constructs an event instance that is true when the axis value is greater than threshold. More...

int	GetAxisCount () const
	Get the number of axes for the HID. More...

int	GetPOVCount () const
	Get the number of POVs for the HID. More...

int	GetButtonCount () const
	Get the number of buttons for the HID. More...

bool	IsConnected () const
	Get if the HID is connected. More...

GenericHID::HIDType	GetType () const
	Get the type of the HID. More...

std::string	GetName () const
	Get the name of the HID. More...

int	GetAxisType (int axis) const
	Get the axis type of a joystick axis. More...

int	GetPort () const
	Get the port number of the HID. More...

void	SetOutput (int outputNumber, bool value)
	Set a single HID output value for the HID. More...

void	SetOutputs (int value)
	Set all output values for the HID. More...

void	SetRumble (RumbleType type, double value)
	Set the rumble output for the HID. More...

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 frc::GenericHID::HIDType

USB HID interface type.

Enumerator
kUnknown	Unknown.
kXInputUnknown	XInputUnknown.
kXInputGamepad	XInputGamepad.
kXInputWheel	XInputWheel.
kXInputArcadeStick	XInputArcadeStick.
kXInputFlightStick	XInputFlightStick.
kXInputDancePad	XInputDancePad.
kXInputGuitar	XInputGuitar.
kXInputGuitar2	XInputGuitar2.
kXInputDrumKit	XInputDrumKit.
kXInputGuitar3	XInputGuitar3.
kXInputArcadePad	XInputArcadePad.
kHIDJoystick	HIDJoystick.
kHIDGamepad	HIDGamepad.
kHIDDriving	HIDDriving.
kHIDFlight	HIDFlight.
kHID1stPerson	HID1stPerson.

◆ RumbleType

enum frc::GenericHID::RumbleType

Represents a rumble output on the Joystick.

Enumerator
kLeftRumble	Left rumble motor.
kRightRumble	Right rumble motor.
kBothRumble	Both left and right rumble motors.

Constructor & Destructor Documentation

◆ GenericHID() [1/2]

frc::GenericHID::GenericHID ( int port )

explicit

◆ ~GenericHID()

virtual frc::GenericHID::~GenericHID ( )

virtualdefault

◆ GenericHID() [2/2]

frc::GenericHID::GenericHID ( GenericHID && )

default

Member Function Documentation

◆ AxisGreaterThan()

BooleanEvent frc::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 frc::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 frc::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.

◆ GetAxisCount()

int frc::GenericHID::GetAxisCount ( ) const

Get the number of axes for the HID.

Returns: the number of axis for the current HID

◆ GetAxisType()

int frc::GenericHID::GetAxisType ( int axis ) const

Get the axis type of a joystick axis.

Returns: the axis type of a joystick axis.

◆ GetButtonCount()

int frc::GenericHID::GetButtonCount ( ) const

Get the number of buttons for the HID.

Returns: the number of buttons on the current HID

◆ GetName()

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

Get the name of the HID.

Returns: the name of the HID.

◆ GetPort()

int frc::GenericHID::GetPort ( ) const

Get the port number of the HID.

Returns: The port number of the HID.

◆ GetPOV()

int frc::GenericHID::GetPOV ( int pov = 0 ) const

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

The POV angles start at 0 in the up direction, and increase clockwise (e.g. 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.

◆ GetPOVCount()

int frc::GenericHID::GetPOVCount ( ) const

Get the number of POVs for the HID.

Returns: the number of POVs for the current HID

◆ GetRawAxis()

double frc::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 frc::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 frc::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 1.

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

◆ GetRawButtonReleased()

bool frc::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 1.

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

◆ GetType()

GenericHID::HIDType frc::GenericHID::GetType ( ) const

Get the type of the HID.

Returns: the type of the HID.

◆ IsConnected()

bool frc::GenericHID::IsConnected ( ) const

Get if the HID is connected.

Returns: true if the HID is connected

◆ operator=()

GenericHID & frc::GenericHID::operator= ( GenericHID && )

default

◆ POV() [1/2]

BooleanEvent frc::GenericHID::POV	(	int	angle,
		EventLoop *	loop
	)		const

Constructs a BooleanEvent instance based around this angle 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

loop	the event loop instance to attach the event to.
angle	POV angle in degrees, or -1 for the center / not pressed.

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

◆ POV() [2/2]

BooleanEvent frc::GenericHID::POV	(	int	pov,
		int	angle,
		EventLoop *	loop
	)		const

Constructs a BooleanEvent instance based around this angle 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

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 in degrees, or -1 for the center / not pressed.

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

◆ POVCenter()

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

Constructs a BooleanEvent instance based around the 180 degree angle (down) of the default (index 0) POV on the HID.

Returns: a BooleanEvent instance based around the 180 degree angle of a POV on the HID.

◆ POVDownLeft()

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

Constructs a BooleanEvent instance based around the 225 degree angle (down left) of the default (index 0) POV on the HID.

Returns: a BooleanEvent instance based around the 225 degree angle of a POV on the HID.

◆ POVDownRight()

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

Constructs a BooleanEvent instance based around the 135 degree angle (right down) of the default (index 0) POV on the HID.

Returns: a BooleanEvent instance based around the 135 degree angle of a POV on the HID.

◆ POVLeft()

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

Constructs a BooleanEvent instance based around the 270 degree angle (left) of the default (index 0) POV on the HID.

Returns: a BooleanEvent instance based around the 270 degree angle of a POV on the HID.

◆ POVRight()

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

Constructs a BooleanEvent instance based around the 90 degree angle (right) of the default (index 0) POV on the HID.

Returns: a BooleanEvent instance based around the 90 degree angle of a POV on the HID.

◆ POVUp()

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

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

Returns: a BooleanEvent instance based around the 0 degree angle of a POV on the HID.

◆ POVUpLeft()

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

Constructs a BooleanEvent instance based around the 315 degree angle (left up) of the default (index 0) POV on the HID.

Returns: a BooleanEvent instance based around the 315 degree angle of a POV on the HID.

◆ POVUpRight()

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

Constructs a BooleanEvent instance based around the 45 degree angle (right up) of the default (index 0) POV on the HID.

Returns: a BooleanEvent instance based around the 45 degree angle of a POV on the HID.

◆ SetOutput()

void frc::GenericHID::SetOutput	(	int	outputNumber,
		bool	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()

void frc::GenericHID::SetOutputs ( int value )

Set all output values for the HID.

Parameters

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

◆ SetRumble()

void frc::GenericHID::SetRumble	(	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

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

frc/GenericHID.h

Public Types

Public Member Functions

Detailed Description

Member Enumeration Documentation

◆ HIDType

◆ RumbleType

Constructor & Destructor Documentation

◆ GenericHID() [1/2]

◆ ~GenericHID()

◆ GenericHID() [2/2]

Member Function Documentation

◆ AxisGreaterThan()

◆ AxisLessThan()

◆ Button()

◆ GetAxisCount()

◆ GetAxisType()

◆ GetButtonCount()

◆ GetName()

◆ GetPort()

◆ GetPOV()

◆ GetPOVCount()

◆ GetRawAxis()

◆ GetRawButton()

◆ GetRawButtonPressed()

◆ GetRawButtonReleased()

◆ GetType()

◆ IsConnected()

◆ operator=()

◆ POV() [1/2]

◆ POV() [2/2]

◆ POVCenter()

◆ POVDown()

◆ POVDownLeft()

◆ POVDownRight()

◆ POVLeft()

◆ POVRight()

◆ POVUp()

◆ POVUpLeft()

◆ POVUpRight()

◆ SetOutput()

◆ SetOutputs()

◆ SetRumble()