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#ifndef CONTROL_H_
#define CONTROL_H_
#include <stdint.h>
#include "ch.h"
#include "hal.h"
#include "vex.h"
typedef enum {
BUTTON_UP,
BUTTON_RELEASE,
BUTTON_DOWN
} button_t;
struct joydata_t {
int Ch1 :8;
int Ch2 :8;
int Ch3 :8;
int Ch4 :8;
struct accel_t {
int y :8;
int x :8;
int z :8;
} __attribute__ ((packed)) accel;
char Btn5D :1;
char Btn5U :1;
char Btn6D :1;
char Btn6U :1;
char Reserved :4;
char Btn8D :1;
char Btn8L :1;
char Btn8U :1;
char Btn8R :1;
char Btn7D :1;
char Btn7L :1;
char Btn7U :1;
char Btn7R :1;
char Reserved2[2];
} __attribute__ ((packed));
struct Controller {
private:
int index;
struct joydata_t* data;
public:
Controller(int idx = 1)
: index(idx), data(nullptr) {}
~Controller(void) {}
void update(void) {
data = reinterpret_cast<struct joydata_t*>(vexSpiGetJoystickDataPtr(index));
data->Ch1 = vexControllerGet(Ch1);//( data->Ch1 == 0xFF ) ? 127 : data->Ch1 - 127;
data->Ch2 = vexControllerGet(Ch2);//-(( data->Ch2 == 0xFF ) ? 127 : data->Ch2 - 127);
data->Ch3 = vexControllerGet(Ch3);//-(( data->Ch3 == 0xFF ) ? 127 : data->Ch3 - 127);
data->Ch4 = vexControllerGet(Ch4);//( data->Ch4 == 0xFF ) ? 127 : data->Ch4 - 127;
}
inline const struct joydata_t* operator->(void) const
{ return data; }
} __attribute__ ((packed));
#endif // CONTROL_H_
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