Initial commit

include/okapi/impl/device/controller.hpp

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+/*
+ * This Source Code Form is subject to the terms of the Mozilla Public
+ * License, v. 2.0. If a copy of the MPL was not distributed with this
+ * file, You can obtain one at http://mozilla.org/MPL/2.0/.
+ */
+#pragma once
+
+#include "api.h"
+#include "okapi/impl/device/button/controllerButton.hpp"
+#include "okapi/impl/device/controllerUtil.hpp"
+#include <array>
+
+namespace okapi {
+class Controller {
+  public:
+  Controller(ControllerId iid = ControllerId::master);
+
+  virtual ~Controller();
+
+  /**
+   * Returns whether the controller is connected.
+   *
+   * @return true if the controller is connected
+   */
+  virtual bool isConnected();
+
+  /**
+   * Returns the current analog reading for the channel in the range [-1, 1]. Returns 0 if the
+   * controller is not connected.
+   *
+   * @param ichannel the channel to read
+   * @return the value of that channel in the range [-1, 1]
+   */
+  virtual float getAnalog(ControllerAnalog ichannel);
+
+  /**
+   * Returns whether the digital button is currently pressed. Returns false if the controller is
+   * not connected.
+   *
+   * @param ibutton the button to check
+   * @return true if the button is pressed, false if the controller is not connected
+   */
+  virtual bool getDigital(ControllerDigital ibutton);
+
+  /**
+   * Returns a ControllerButton for the given button on this controller.
+   *
+   * @param ibtn the button
+   * @return a ControllerButton on this controller
+   */
+  virtual ControllerButton &operator[](ControllerDigital ibtn);
+
+  /**
+   * Sets text to the controller LCD screen.
+   *
+   * @param iline the line number in the range [0-2] at which the text will be displayed
+   * @param icol the column number in the range [0-14] at which the text will be displayed
+   * @param itext the string to display
+   * @return 1 if the operation was successful, PROS_ERR otherwise
+   */
+  virtual std::int32_t setText(std::uint8_t iline, std::uint8_t icol, std::string itext);
+
+  /**
+   * Clears all of the lines of the controller screen. On vexOS version 1.0.0 this function will
+   * block for 110ms.
+   *
+   * @return 1 if the operation was successful, PROS_ERR otherwise
+   */
+  virtual std::int32_t clear();
+
+  /**
+   * Clears an individual line of the controller screen.
+   *
+   * @param iline the line number to clear in the range [0, 2].
+   * @return 1 if the operation was successful, PROS_ERR otherwise
+   */
+  virtual std::int32_t clearLine(std::uint8_t iline);
+
+  /**
+   * Rumble the controller.
+   *
+   * Controller rumble activation is currently in beta, so continuous, fast
+   * updates will not work well.
+   *
+   * @param irumblePattern A string consisting of the characters '.', '-', and ' ', where dots are
+   * short rumbles, dashes are long rumbles, and spaces are pauses. Maximum supported length is 8
+   * characters.
+   *
+   * @return 1 if the operation was successful or PROS_ERR if the operation failed, setting errno.
+   */
+  virtual std::int32_t rumble(std::string irumblePattern);
+
+  /**
+   * Gets the battery capacity of the given controller.
+   *
+   * This function uses the following values of errno when an error state is reached:
+   * EACCES - Another resource is currently trying to access the controller port.
+   *
+   * @return the controller's battery capacity
+   */
+  virtual std::int32_t getBatteryCapacity();
+
+  /**
+   * Gets the battery level of the given controller.
+   *
+   * This function uses the following values of errno when an error state is reached:
+   * EACCES - Another resource is currently trying to access the controller port.
+   *
+   * @return the controller's battery level
+   */
+  virtual std::int32_t getBatteryLevel();
+
+  protected:
+  ControllerId okapiId;
+  pros::controller_id_e_t prosId;
+  std::array<ControllerButton *, 12> buttonArray{};
+};
+} // namespace okapi