argos_lib::SwappableControllersSubsystem Class Reference

Allows two controllers to swap between "Driver" and "Operator" control schemes on the fly by swapping the m_driverController and m_operatorController objects. More...

#include <swappable_controllers_subsystem.h>

Inheritance diagram for argos_lib::SwappableControllersSubsystem:

Public Member Functions
	SwappableControllersSubsystem ()=delete
	SwappableControllersSubsystem (int driverControllerPort, int operatorControllerPort)
	Construct a new Swappable Controllers Subsystem object with two controllers.
void	Swap ()
	Swap driver and operator controller rolls.
argos_lib::XboxController &	DriverController ()
	Get reference to active driver controller.
argos_lib::XboxController &	OperatorController ()
	Get reference to active operator controller.
void	Periodic () override
	Will be called periodically whenever the CommandScheduler runs.
void	VibrateAll (argos_lib::VibrationModel newModel)
	Change vibration model for both controllers.

Private Member Functions
void	UpdateVibration ()
	Update vibration on both controllers based on their active vibration models.

Private Attributes
argos_lib::XboxController	m_driverController
	Managed driver controller.
argos_lib::XboxController	m_operatorController
	Managed operator controller.
bool	m_swapped
	Indicates if controllers are currently swapped.

Detailed Description

Allows two controllers to swap between "Driver" and "Operator" control schemes on the fly by swapping the m_driverController and m_operatorController objects.

Constructor & Destructor Documentation

SwappableControllersSubsystem() [1/2]

argos_lib::SwappableControllersSubsystem::SwappableControllersSubsystem ( )

delete

SwappableControllersSubsystem() [2/2]

SwappableControllersSubsystem::SwappableControllersSubsystem	(	int	driverControllerPort,
		int	operatorControllerPort
	)

Construct a new Swappable Controllers Subsystem object with two controllers.

Parameters

driverControllerPort	Index of driver controller
operatorControllerPort	Index of operator controller

Member Function Documentation

DriverController()

XboxController & SwappableControllersSubsystem::DriverController

(

)

Get reference to active driver controller.

Returns

Active driver controller based on swaps up to this point

OperatorController()

XboxController & SwappableControllersSubsystem::OperatorController

(

)

Get reference to active operator controller.

Returns

Active operator controller based on swaps up to this point

Periodic()

void SwappableControllersSubsystem::Periodic ( )

override

Will be called periodically whenever the CommandScheduler runs.

Will be called periodically whenever the CommandScheduler runs.

Swap()

void SwappableControllersSubsystem::Swap

(

)

Swap driver and operator controller rolls.

UpdateVibration()

void SwappableControllersSubsystem::UpdateVibration ( )

private

Update vibration on both controllers based on their active vibration models.

VibrateAll()

void SwappableControllersSubsystem::VibrateAll

(

argos_lib::VibrationModel

newModel

)

Change vibration model for both controllers.

Member Data Documentation

m_driverController

argos_lib::XboxController argos_lib::SwappableControllersSubsystem::m_driverController

private

Managed driver controller.

m_operatorController

argos_lib::XboxController argos_lib::SwappableControllersSubsystem::m_operatorController

private

Managed operator controller.

m_swapped

bool argos_lib::SwappableControllersSubsystem::m_swapped

private

Indicates if controllers are currently swapped.

---

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

• src/argos_lib/include/argos_lib/subsystems/swappable_controllers_subsystem.h
• src/argos_lib/cpp/subsystems/swappable_controllers_subsystem.cpp