C++ EGamepad::GetDPadEvent方法代码示例

	// HandleArm
	//	* Manage solenoids for arm up-down
	//		----> ASSUMES kForward on DoubleSolenoid is the down position.
	//	* Handle intake motors
	void HandleArm()
	{
		if (gamepad.GetEvent(BUTTON_ARM) == kEventClosed && armDown)
		{
			arm.Set(DoubleSolenoid::kReverse);
			armDown = false;
		}
		else if (gamepad.GetEvent(BUTTON_ARM) == kEventClosed)
		{
			arm.Set(DoubleSolenoid::kForward);
			armDown = true;
		}

		if (gamepad.GetDPadEvent(BUTTON_INTAKE_COLLECT) == kEventClosed)
		{
			intake.Set(INTAKE_COLLECT);
		}
		else if (gamepad.GetDPadEvent(BUTTON_INTAKE_COLLECT) == kEventOpened)
		{
			intake.Set(0.0);
		}

		if(gamepad.GetDPadEvent(BUTTON_INTAKE_EJECT) == kEventClosed)
		{
			intake.Set(INTAKE_EJECT);
		}
		if (gamepad.GetDPadEvent(BUTTON_INTAKE_EJECT) == kEventOpened)
		{
			intake.Set(0.0);
		}
	}

	void HandleArmInputs(void)
	{
		if (!m_jogTimerRunning)
		{
			if (gamepad.GetLeftY() < -0.1)
			{
				if (potentiometer.GetVoltage() < 4.5)
				{
					armMotor.Set(ARM_FWD);
				}
				else
				{
					armMotor.Set(0.0);
				}
			}
			else if (gamepad.GetLeftY() > 0.1)
			{
				if (potentiometer.GetVoltage() > .5)
				{
					armMotor.Set(ARM_REV);
				}
				else
				{
					armMotor.Set(0.0);
				}	
			}
			else if (kEventClosed == gamepad.GetDPadEvent(Gamepad::kUp))
			{
				armMotor.Set(ARM_FWD);
				jogTimer.Start();
				jogTimer.Reset();
				m_jogTimerRunning = true;
			}
			else if (kEventClosed == gamepad.GetDPadEvent(Gamepad::kDown))
			{
				armMotor.Set(ARM_REV);
				jogTimer.Start();
				jogTimer.Reset();
				m_jogTimerRunning = true;
			}
			else
			{
				armMotor.Set(0.0);
			}
		}
		else if (jogTimer.HasPeriodPassed(JOG_TIME))
		{
			armMotor.Set(0);
			jogTimer.Stop();
			jogTimer.Reset();
			m_jogTimerRunning = false;
		}

		if (gamepad.GetEvent(BUTTON_CLAW_1_LOCKED) == kEventClosed)
		{
			greenClaw.Set(DoubleSolenoid::kForward);
		}
		else if (gamepad.GetEvent(BUTTON_CLAW_1_UNLOCKED) == kEventClosed)
		{
			greenClaw.Set(DoubleSolenoid::kReverse);
		}
		else if (gamepad.GetEvent(BUTTON_CLAW_2_LOCKED) == kEventClosed)
		{
			yellowClaw.Set(DoubleSolenoid::kForward);
		}
		else if (gamepad.GetEvent(BUTTON_CLAW_2_UNLOCKED) == kEventClosed)
		{
			yellowClaw.Set(DoubleSolenoid::kReverse);
		}
		
	}

	void Test()
	{
		menuType currentMenu = TOP;
		menuType newMenu = TOP;

		BaseMenu * menus[NUM_MENU_TYPE];

		menus[TOP] = new TopMenu;
		menus[ANALOG] = new AnalogMenu;
		menus[DIGITAL_TOP] = new DigitalMenu;
		menus[SOLENOID] = new SolenoidMenu;
		menus[DIGITAL_PWM] = new PWMMenu;
		menus[DIGITAL_IO] = new DigitalIOMenu;
		menus[DIGITAL_RELAY] = new RelayMenu;
		menus[DIGITAL_IO_STATE] = new DigitalIOStateMenu;
		menus[DIGITAL_IO_CLOCK] = new DigitalIOClockMenu;
		menus[DIGITAL_IO_ENCODER] = new DigitalIOEncoderMenu;

		// Write out the TOP menu for the first time
		menus[currentMenu]->UpdateDisplay();

		// Initialize the button states on the gamepad
		gamepad.Update();

		// Loop counter to ensure that the program us running (debug helper
		// that can be removed when things get more stable)
		int sanity = 0;

		while (IsTest())
		{
			// The dpad "up" button is used to move the menu pointer up one line
			// on the LCD display
			if (kEventClosed == gamepad.GetDPadEvent(Gamepad::kUp))
			{
				menus[currentMenu]->HandleIndexUp();
			}

			// The dpad "down" button is used to move the menu pointer down one line
			// on the LCD display
			if (kEventClosed == gamepad.GetDPadEvent(Gamepad::kDown))
			{
				menus[currentMenu]->HandleIndexDown();
			}

			// The dpad left button is used to exit a submenu when the menu pointer
			// points to the "back" menu item and to decrease a value (where 
			// appropriate) on any other menu item.
			if (kEventClosed == gamepad.GetDPadEvent(Gamepad::kLeft))
			{
				newMenu = menus[currentMenu]->HandleSelectLeft();
			}

			// Theoretically, both the select buttons could be pressed in the 
			// same 10 msec window. However, if using the dpad on the game 
			// game controller this is physically impossible so we don't
			// need to worry about a previous value of newMenu being 
			// overwritten in the next bit of code.

			// The dpad right button is used to enter a submenu when the menu pointer
			// points to a submenu item and to increase a value (where  appropriate) 
			// on any other menu item.
			if (kEventClosed == gamepad.GetDPadEvent(Gamepad::kRight))
			{
				newMenu = menus[currentMenu]->HandleSelectRight();

				// Handle change from one menu to a sub menu
				if (newMenu != currentMenu)
				{
					// When we enter a menu we need to set the record the
					// menu to return to. We do *not* want to do this when
					// returning from a menu to its calling menu.
					menus[newMenu]->SetCallingMenu(currentMenu);
				}
			}

			// Handle change from one menu to another
			if (newMenu != currentMenu)
			{
				menus[newMenu]->UpdateDisplay();
				currentMenu = newMenu;
			}

			// Set the motor speed(s) (if any have been enabled via the Digital PWM menu)
			menus[DIGITAL_PWM]->SetSpeed(-1.0 * gamepad.GetRightY());

			// Update gamepad button states
			gamepad.Update();

			// Update the display (we do this on every loop pass because some menus
			// (analog, for example) need to have values updated even when there are
			// no dpad events to handle)
			menus[currentMenu]->UpdateDisplay();

			// Dump the sanity time value to the LCD
			dsLCD->PrintfLine(DriverStationLCD::kUser_Line6, "Sanity: %d", sanity);
			dsLCD->UpdateLCD();

			sanity++;

			// Run the loop every 50 msec (20 times per second)
//.........这里部分代码省略.........