io.github.robolib.module.hid

Class GenericHID

java.lang.Object

io.github.robolib.module.hid.GenericHID

All Implemented Interfaces:

HIDModule, Module

Direct Known Subclasses:

Joystick, NetTableController

public abstract class GenericHID
extends java.lang.Object
implements HIDModule

The HID (Human Interface Device) base

Author:

noriah

See Also:

Joystick

Nested Class Summary

Nested Classes

Modifier and Type	Class and Description
private class	GenericHID.InvalidAxisException The Class InvalidAxisException.
private class	GenericHID.InvalidButtonException The Class InvalidButtonException.

Field Summary

Fields

Modifier and Type	Field and Description
protected HIDAxis[]	m_axes The m_axes.
protected HIDButton[]	m_btns The m_btns.
protected int	m_numAxes The m_num btns.
protected int	m_numBtns The m_num btns.

Constructor Summary

Constructors

Modifier	Constructor and Description
protected	GenericHID() RoboLibJ Joysticks.
protected	GenericHID(int numAxes, int numBtns) RoboLibJ Joysticks.

Method Summary

Modifier and Type	Method and Description
protected void	addAxisButton(int channel, double posThresh, double negThresh) Adds the axis button.
protected void	addButton(HIDButton button) Adds the button.
protected void	checkAxis(int axis) Check if the axis requested exists.
protected void	checkButton(int button) Check if the button requested exists.
HIDAxis	getAxis(int axis) Get a Joystick HIDAxis.
HIDButton	getButton(int button) Get a Joystick HIDButton.
int	getPOV(int pov)
double	getRawAxis(int channel) Get the raw axis
boolean	getRawButton(int channel) Is the given button pressed
void	setAxis(int index, HIDAxis axis) Set a Joystick HIDAxis.
void	setAxisDeadband(int axis, double deadband) Set a Joystick HIDAxis Deadband.
void	setAxisInverted(int axis) Invert a Joystick HIDAxis.
void	setButton(int index, HIDButton button) Set a Joystick HIDButton.

Methods inherited from class java.lang.Object

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

Methods inherited from interface io.github.robolib.module.Module

disableModule, enableModule, getModuleEnabled

Field Detail

m_axes

protected HIDAxis[] m_axes

The m_axes.

m_btns

protected HIDButton[] m_btns

The m_btns.

m_numAxes

protected int m_numAxes

The m_num btns.

m_numBtns

protected int m_numBtns

The m_num btns.

Constructor Detail

GenericHID

protected GenericHID()

RoboLibJ Joysticks.

GenericHID

protected GenericHID(int numAxes,
                     int numBtns)

RoboLibJ Joysticks.

Parameters:

numAxes - the Number of Axes this Joystick will have

numBtns - the Number of Buttons this Joystick will have

Method Detail

getAxis

public final HIDAxis getAxis(int axis)

Get a Joystick HIDAxis. Returns an HIDAxis instance of the requested Axis.

Parameters:

axis - the axis to get

Returns:

a HIDAxis instance of the requested Axis

See Also:

HIDAxis

setAxis

public final void setAxis(int index,
                          HIDAxis axis)

Set a Joystick HIDAxis. Returns an HIDAxis instance of the requested Axis.

Parameters:

index - the axis to set

axis - the new HIDAxis

See Also:

HIDAxis

setAxisInverted

public final void setAxisInverted(int axis)

Invert a Joystick HIDAxis.

Parameters:

axis - the axis to invert

See Also:

HIDAxis

setAxisDeadband

public final void setAxisDeadband(int axis,
                                  double deadband)

Set a Joystick HIDAxis Deadband.

Parameters:

axis - the axis

deadband - the deadband

See Also:

HIDAxis

getButton

public final HIDButton getButton(int button)

Get a Joystick HIDButton. Returns a HIDButton instance of the requested Button.

Parameters:

button - the button to get

Returns:

a HIDButton instance of the requested Button

See Also:

HIDButton

setButton

public final void setButton(int index,
                            HIDButton button)

Set a Joystick HIDButton. Sets the id to a HIDButton instance of the requested Button.

Parameters:

index - the button to get

button - the new HIDButton

See Also:

HIDButton

getRawAxis

public final double getRawAxis(int channel)

Get the raw axis

Parameters:

channel - index of the axis

Returns:

the raw value of the selected axis

getRawButton

public final boolean getRawButton(int channel)

Is the given button pressed

Parameters:

channel - which button number

Returns:

true if the button is pressed

getPOV

public int getPOV(int pov)

Parameters:

pov -

Returns:

the pov value

addButton

protected final void addButton(HIDButton button)

Adds the button.

Parameters:

button - the btn

addAxisButton

protected final void addAxisButton(int channel,
                                   double posThresh,
                                   double negThresh)

Adds the axis button.

Parameters:

channel - the channel

posThresh - the pos thresh

negThresh - the neg thresh

checkAxis

protected final void checkAxis(int axis)

Check if the axis requested exists.

Parameters:

axis - the axis being checked

See Also:

HIDAxis

checkButton

protected final void checkButton(int button)

Check if the button requested exists.

Parameters:

button - the button being checked.

See Also:

HIDButton