ADBLib::Controller Class Reference

A wrapper class for the WPILib Joystick class, adding some stuff to take the headache out of working with raw inputs. More...

#include <Controller.h>

Collaboration diagram for ADBLib::Controller:

Public Member Functions
	~Controller ()
bool	getButtonRaw (int ID)
	Gets the raw button setting as true or false, disregarding any active cooldowns. More...
double	getJoystickRaw (int ID)
	Gets the raw axis value. More...
void	setJoystick (Joystick *newJoystick)
	Sets the joystick to get data from. More...
void	setRumble (Joystick::RumbleType side, float intensity=1.f)
	Make the controller rumble using built-in rumbler thingies. More...
void	parseConfig (string filename)
	Loads control settings from a config file, because hard-coded controls are awful. More...
void	switchProfile (string profileName)
	Switches out the current control profile for another profile, specified by name. More...
double	operator[] (const string &name)
	Get the value of a set control, referenced by name. More...

Protected Attributes
unordered_map< string, unordered_map< string, ctrlCfg > >	profiles
string	currentProfile
Joystick *	joystick

Detailed Description

A wrapper class for the WPILib Joystick class, adding some stuff to take the headache out of working with raw inputs.

Constructor & Destructor Documentation

ADBLib::Controller::~Controller

(

)

Member Function Documentation

bool ADBLib::Controller::getButtonRaw

(

int

ID

)

Gets the raw button setting as true or false, disregarding any active cooldowns.

Parameters

ID	The ID of the button. ID changes depending on controller mode (X-Mode or D-Mode)

double ADBLib::Controller::getJoystickRaw

(

int

ID

)

Gets the raw axis value.

Parameters

ID	The ID of the joystick. ID changes depending on controller mode (X-Mode or D-Mode)

double ADBLib::Controller::operator[]

(

const string &

name

)

Get the value of a set control, referenced by name.

Parameters

name	The name of the control. Referenced in the XML configuration file.

Returns

If the control is a button, nonzero for true and zero for false (duh). Else, a double.

Note

If you get inexplicable crashes originating from this class, check to make sure you gave it a joystick.

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void ADBLib::Controller::parseConfig

(

string

filename

)

Loads control settings from a config file, because hard-coded controls are awful.

Config files should be structured as follows:

• The root node should be called "ControlConfig".
• The children underneath the root node should be called "profile" with an attribute "name". This name is the name for a specific control profile. There should also be an attribute "active", which should be either true or false. This sets which control profile is active.
• Nodes underneath a profile node should be named "control". They should have an attribute "type" (either button or joystick), an attribute "name", which is how you will refer to the control in the code, and an "id" attribute, for the control ID.
• A control node's children should vary depending on control type.
  • All children will name the type of parameter, whereas an XML attribute ("value") specifies the value.
  • Button controls need only have "toggle" (boolean) and "cooldown" (double) parameters..
  • Joystick controls have four parameters: maxInput, minInput, deadzone, and equation (how the resulting value is modified; negative-blind).
  • Both button and joystick controls can accept an "inverse" (boolean) parameter, to invert output.

An example (tiny) XML config file follows (you might need to check the source code, doxygen screws up the tabs!):

<ControlConfig> <profile name="Sourec" active="false"> <control type="button" id="0" name="raiseForks"> <toggle value="false"> <cooldown value="0.250"> </control> <control type="joystick" name="intakeWheels" id="5"> <maxInput value="1.0"> <minInput value="-1.0"> <deadzone value="0.1"> <equation value="x"> </control> </profile> </ControlConfig>

Parameters

cfgFile

The path/filename to the config file.

Note

RoboRIOs are UNIX-y! This means that your directory (even if it's just the root directory!) should start out with a '/' !

Not setting a control parameter in the file will cause default values to be used! If you suspect error, check the log!

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void ADBLib::Controller::setJoystick

(

Joystick *

newJoystick

)

Sets the joystick to get data from.

Parameters

newJoystick

A shared pointer to the joystick to use.

void ADBLib::Controller::setRumble	(	Joystick::RumbleType	side,
		float	intensity = 1.f
	)

Make the controller rumble using built-in rumbler thingies.

Parameters

side	The side on which the joystick will rumble. Definedby WPILib.
intensity	The intensity of vibration on a scale from 0 to 1.

void ADBLib::Controller::switchProfile

(

string

profileName

)

Switches out the current control profile for another profile, specified by name.

Parameters

profileName

The name of the profile to switch to as a string.

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Member Data Documentation

string ADBLib::Controller::currentProfile

protected

Joystick* ADBLib::Controller::joystick

protected

unordered_map<string, unordered_map<string, ctrlCfg> > ADBLib::Controller::profiles

protected

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

• src/input/Controller.h
• src/input/Controller.cpp