C++ Joystick::GetTop方法代码示例

/**
 * Read the state of the top button on the joystick.
 *
 * Look up which button has been assigned to the top and read its state.
 *
 * @param port The USB port for this joystick.
 * @param hand This parameter is ignored for the Joystick class and is only here to complete the GenericHID interface.
 * @return The state of the top button.
 */
bool GetTop(UINT32 port, JoystickHand hand)
{
    Joystick *stick = getJoystick(port);
    if (stick == NULL)
        return 0;
    return stick->GetTop((Joystick::JoystickHand) hand);
}

	void TeleopPeriodic(void) {
		// increment the number of teleop periodic loops completed
		GetWatchdog().Feed();
		m_telePeriodicLoops++;

		/*
		 * No longer needed since periodic loops are now synchronized with incoming packets.
		if (m_ds->GetPacketNumber() != m_priorPacketNumber) {
		*/
			/* 
			 * Code placed in here will be called only when a new packet of information
			 * has been received by the Driver Station.  Any code which needs new information
			 * from the DS should go in here
			 */
			 
			m_dsPacketsReceivedInCurrentSecond++;					// increment DS packets received
						
			// put Driver Station-dependent code here

			// Demonstrate the use of the Joystick buttons
//			DemonstrateJoystickButtons(m_rightStick, m_rightStickButtonState, "Right Stick", &m_solenoids[1]);
//			DemonstrateJoystickButtons(m_leftStick, m_leftStickButtonState, "Left Stick ", &m_solenoids[5]);
		/***
			// determine if tank or arcade mode, based upon position of "Z" wheel on kit joystick
			if (m_rightStick->GetZ() <= 0) {    // Logitech Attack3 has z-polarity reversed; up is negative
				// use arcade drive
				m_robotDrive->ArcadeDrive(m_rightStick);			// drive with arcade style (use right stick)
				if (m_driveMode != ARCADE_DRIVE) {
					// if newly entered arcade drive, print out a message
					printf("Arcade Drive\n");
					m_driveMode = ARCADE_DRIVE;
				}
			} else {
				// use tank drive
				m_robotDrive->TankDrive(m_leftStick, m_rightStick);	// drive with tank style
				if (m_driveMode != TANK_DRIVE) {
					// if newly entered tank drive, print out a message
					printf("Tank Drive\n");
					m_driveMode = TANK_DRIVE;
				}
			}
***/
			
		/* Grab z-wheel value and transform from [1, -1] to [0,4600] 
		 * 4600 rpm is a guess */ 
		float rawZ, transformedZ;
		rawZ = m_leftStick->GetZ();
//		transformedZ = (1.0 - rawZ)/(-2.0);
		transformedZ = -2300.0 * rawZ + 2300.0;
		
		/* Driver station display output. */
		char msg[256];
static	DriverStationLCD *dsLCD = DriverStationLCD::GetInstance();
		sprintf(msg, "Launcher Speed = %f RPM", transformedZ);
		dsLCD->Printf(DriverStationLCD::kUser_Line1, 1, msg);
		sprintf(msg, "Loader Limit = %u", m_loaderLimit->Get());
		dsLCD->Printf(DriverStationLCD::kUser_Line2, 1, msg);
		sprintf(msg, "Loader Trigger = %u", m_leftStick->GetTrigger());
		dsLCD->Printf(DriverStationLCD::kUser_Line3, 1, msg);
					// line number (enum), starting col, format string, args for format string ...
		dsLCD->UpdateLCD();
		
		// use arcade drive
		//m_driveGain = (1.0 - m_rightStick->GetZ())/(-2.0);
		m_robot->ArcadeDrive(m_rightStick);			// drive with arcade style (use right stick)
//		m_robotFrontDrive->Drive(-m_driveGain*m_rightStick->GetY(),-m_driveGain*m_rightStick->GetX());	// negative sign to fix bug in turn
//		m_robotRearDrive->Drive(m_driveGain*m_rightStick->GetY(),-m_driveGain*m_rightStick->GetX());	// negative sign to fix bug in turn
		
		// -Add an elevation control, add a motor controller to port 8, and add a joystick button pair to control up/down
		if (m_rightStick->GetRawButton(m_elevatorUpButton)){
			m_elevatorMotor->Set(m_elevatorUpSpeed);
		}
		else if (m_rightStick->GetRawButton(m_elevatorDownButton)){
			m_elevatorMotor->Set(m_elevatorDownSpeed);
		}
		else {
			m_elevatorMotor->Set(0.0);
		}
		// trigger button activates feeding and loading mechanisms
		if ((m_leftStick->GetTop() || m_feeding) && (!m_loading) && (m_feedCounter <= m_feedCount)){
			m_feeding = true;
			m_feedCounter++;  
			m_feedMotor->Set(m_feedSpeed);
		}
		else {
			m_feeding = false;
			m_feedCounter = 0;
			m_feedMotor->Set(0.);
			}
		m_loaderLimit->Get(); //just testing digital input port 1
		
		// top(2) button uses the Z wheel to control the speed of the loading mechanisms
		if (((m_leftStick->GetTrigger() || m_loading) && (!m_feeding)) && (m_loadCounter <= m_loadCount)){//comment out this line
//		if (((m_leftStick->GetTrigger() || m_loading) && (!m_feeding)) && (bool) m_loaderLimit->Get()){  //uncomment this line
			m_loading = true;
			m_loadCounter++; // comment out this line
			m_loadMotor->Set(m_loadSpeed);	// load breech
			} 
		else if ((m_loading && (!m_feeding)) && (m_loadCounter > m_loadCount) && (m_loadCounter <= ((m_loadCount+m_loadPauseCount)))) { // comment out the pause logic
			m_loading = true;// comment out the pause logic
//.........这里部分代码省略.........