You can not select more than 25 topics
Topics must start with a letter or number, can include dashes ('-') and can be up to 35 characters long.
86 lines
2.8 KiB
86 lines
2.8 KiB
/*===================================================================== |
|
|
|
PIXHAWK Micro Air Vehicle Flying Robotics Toolkit |
|
|
|
(c) 2009, 2010 PIXHAWK PROJECT <http://pixhawk.ethz.ch> |
|
|
|
This file is part of the PIXHAWK project |
|
|
|
PIXHAWK is free software: you can redistribute it and/or modify |
|
it under the terms of the GNU General Public License as published by |
|
the Free Software Foundation, either version 3 of the License, or |
|
(at your option) any later version. |
|
|
|
PIXHAWK is distributed in the hope that it will be useful, |
|
but WITHOUT ANY WARRANTY; without even the implied warranty of |
|
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
|
GNU General Public License for more details. |
|
|
|
You should have received a copy of the GNU General Public License |
|
along with PIXHAWK. If not, see <http://www.gnu.org/licenses/>. |
|
|
|
======================================================================*/ |
|
|
|
/** |
|
* @file |
|
* @brief Definition of joystick widget |
|
* @author Lorenz Meier <mavteam@student.ethz.ch> |
|
* |
|
*/ |
|
|
|
#ifndef JOYSTICKWIDGET_H |
|
#define JOYSTICKWIDGET_H |
|
|
|
#include <QtGui/QDialog> |
|
#include "JoystickInput.h" |
|
|
|
namespace Ui { |
|
class JoystickWidget; |
|
} |
|
|
|
class JoystickWidget : public QDialog { |
|
Q_OBJECT |
|
Q_DISABLE_COPY(JoystickWidget) |
|
public: |
|
explicit JoystickWidget(JoystickInput* joystick, QWidget *parent = 0); |
|
virtual ~JoystickWidget(); |
|
|
|
public slots: |
|
/** |
|
* @brief Receive raw joystick values |
|
* |
|
* @param roll forward / pitch / x axis, front: 32'767, center: 0, back: -32'768 |
|
* @param pitch left / roll / y axis, left: -32'768, middle: 0, right: 32'767 |
|
* @param yaw turn axis, left-turn: -32'768, centered: 0, right-turn: 32'767 |
|
* @param thrust Thrust, 0%: 0, 100%: 65535 |
|
* @param xHat hat vector in forward-backward direction, +1 forward, 0 center, -1 backward |
|
* @param yHat hat vector in left-right direction, -1 left, 0 center, +1 right |
|
*/ |
|
void updateJoystick(double roll, double pitch, double yaw, double thrust, int xHat, int yHat); |
|
/** @brief Throttle lever */ |
|
void setThrottle(float thrust); |
|
/** @brief Back/forth movement */ |
|
void setX(float x); |
|
/** @brief Left/right movement */ |
|
void setY(float y); |
|
/** @brief Wrist rotation */ |
|
void setZ(float z); |
|
/** @brief Hat switch position */ |
|
void setHat(float x, float y); |
|
/** @brief Clear keys */ |
|
void clearKeys(); |
|
/** @brief Joystick keys, as labeled on the joystick */ |
|
void pressKey(int key); |
|
/** @brief Update status string */ |
|
void updateStatus(const QString& status); |
|
|
|
protected: |
|
/** @brief UI change event */ |
|
virtual void changeEvent(QEvent *e); |
|
JoystickInput* joystick; ///< Reference to the joystick |
|
|
|
private: |
|
Ui::JoystickWidget *m_ui; |
|
}; |
|
|
|
#endif // JOYSTICKWIDGET_H
|
|
|