edu.wpi.first.wpilibj

Class Joystick

java.lang.Object

edu.wpi.first.wpilibj.GenericHID

edu.wpi.first.wpilibj.JoystickBase

edu.wpi.first.wpilibj.Joystick

public class Joystick
extends JoystickBase

Handle input from standard Joysticks connected to the Driver Station. This class handles standard input that comes from the Driver Station. Each time a value is requested the most recent value is returned. There is a single class instance for each joystick and the mapping of ports to hardware buttons depends on the code in the Driver Station.

Nested Class Summary

Nested Classes

Modifier and Type	Class and Description
static class	Joystick.AxisType Represents an analog axis on a joystick.
static class	Joystick.ButtonType Represents a digital button on the JoyStick.

Nested classes/interfaces inherited from class edu.wpi.first.wpilibj.GenericHID

GenericHID.Hand, GenericHID.HIDType, GenericHID.RumbleType

Constructor Summary

Constructors

Modifier	Constructor and Description
	Joystick(int port) Construct an instance of a joystick.
protected	Joystick(int port, int numAxisTypes, int numButtonTypes) Protected version of the constructor to be called by sub-classes.

Method Summary

Modifier and Type	Method and Description
double	getAxis(Joystick.AxisType axis) For the current joystick, return the axis determined by the argument.
int	getAxisChannel(Joystick.AxisType axis) Get the channel currently associated with the specified axis.
int	getAxisCount() For the current joystick, return the number of axis.
int	getAxisType(int axis) Get the axis type of a joystick axis.
boolean	getBumper(GenericHID.Hand hand) This is not supported for the Joystick.
boolean	getButton(Joystick.ButtonType button) Get buttons based on an enumerated type.
int	getButtonCount() For the current joystick, return the number of buttons.
double	getDirectionDegrees() Get the direction of the vector formed by the joystick and its origin in degrees.
double	getDirectionRadians() Get the direction of the vector formed by the joystick and its origin in radians.
boolean	getIsXbox() Get the value of isXbox for the current joystick.
double	getMagnitude() Get the magnitude of the direction vector formed by the joystick's current position relative to its origin.
java.lang.String	getName() Get the name of the HID.
int	getPOV(int pov) Get the angle in degrees of a POV on the HID.
int	getPOVCount() For the current HID, return the number of POVs.
double	getRawAxis(int axis) Get the value of the axis.
boolean	getRawButton(int button) Get the button value (starting at button 1).
double	getThrottle() Get the throttle value of the current joystick.
boolean	getTop(GenericHID.Hand hand) Read the state of the top button on the joystick.
boolean	getTrigger(GenericHID.Hand hand) Read the state of the trigger on the joystick.
double	getTwist() Get the twist value of the current joystick.
GenericHID.HIDType	getType() Get the type of the HID.
double	getX(GenericHID.Hand hand) Get the X value of the joystick.
double	getY(GenericHID.Hand hand) Get the Y value of the joystick.
double	getZ(GenericHID.Hand hand) Get the z position of the HID.
void	setAxisChannel(Joystick.AxisType axis, int channel) Set the channel associated with a specified axis.
void	setOutput(int outputNumber, boolean value) Set a single HID output value for the HID.
void	setOutputs(int value) Set all HID output values for the HID.
void	setRumble(GenericHID.RumbleType type, double value) Set the rumble output for the HID.

Methods inherited from class edu.wpi.first.wpilibj.JoystickBase

getTop, getTrigger, getZ

Methods inherited from class edu.wpi.first.wpilibj.GenericHID

getPort, getPOV, getX, getY

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Constructor Detail

Joystick

public Joystick(int port)

Construct an instance of a joystick. The joystick index is the USB port on the drivers station.

Parameters:

port - The port on the Driver Station that the joystick is plugged into.

Joystick

protected Joystick(int port,
                   int numAxisTypes,
                   int numButtonTypes)

Protected version of the constructor to be called by sub-classes.

This constructor allows the subclass to configure the number of constants for axes and buttons.

Parameters:

port - The port on the Driver Station that the joystick is plugged into.

numAxisTypes - The number of axis types in the enum.

numButtonTypes - The number of button types in the enum.

Method Detail

getX

public final double getX(GenericHID.Hand hand)

Get the X value of the joystick. This depends on the mapping of the joystick connected to the current port.

Specified by:

getX in class GenericHID

Parameters:

hand - Unused

Returns:

The X value of the joystick.

getY

public final double getY(GenericHID.Hand hand)

Get the Y value of the joystick. This depends on the mapping of the joystick connected to the current port.

Specified by:

getY in class GenericHID

Parameters:

hand - Unused

Returns:

The Y value of the joystick.

getZ

public final double getZ(GenericHID.Hand hand)

Description copied from class: JoystickBase

Get the z position of the HID.

Specified by:

getZ in class JoystickBase

Parameters:

hand - which hand, left or right

Returns:

the z position

getTwist

public double getTwist()

Get the twist value of the current joystick. This depends on the mapping of the joystick connected to the current port.

Specified by:

getTwist in class JoystickBase

Returns:

The Twist value of the joystick.

getThrottle

public double getThrottle()

Get the throttle value of the current joystick. This depends on the mapping of the joystick connected to the current port.

Specified by:

getThrottle in class JoystickBase

Returns:

The Throttle value of the joystick.

getRawAxis

public double getRawAxis(int axis)

Get the value of the axis.

Specified by:

getRawAxis in class GenericHID

Parameters:

axis - The axis to read, starting at 0.

Returns:

The value of the axis.

getAxis

public double getAxis(Joystick.AxisType axis)

For the current joystick, return the axis determined by the argument.

This is for cases where the joystick axis is returned programatically, otherwise one of the previous functions would be preferable (for example getX()).

Parameters:

axis - The axis to read.

Returns:

The value of the axis.

getAxisCount

public int getAxisCount()

For the current joystick, return the number of axis.

getTrigger

public boolean getTrigger(GenericHID.Hand hand)

Read the state of the trigger on the joystick.

Look up which button has been assigned to the trigger and read its state.

Specified by:

getTrigger in class JoystickBase

Parameters:

hand - This parameter is ignored for the Joystick class and is only here to complete the GenericHID interface.

Returns:

The state of the trigger.

getTop

public boolean getTop(GenericHID.Hand hand)

Read the state of the top button on the joystick.

Look up which button has been assigned to the top and read its state.

Specified by:

getTop in class JoystickBase

Parameters:

hand - This parameter is ignored for the Joystick class and is only here to complete the GenericHID interface.

Returns:

The state of the top button.

getPOV

public int getPOV(int pov)

Description copied from class: GenericHID

Get the angle in degrees of a POV on the HID.

The POV angles start at 0 in the up direction, and increase clockwise (eg right is 90, upper-left is 315).

Specified by:

getPOV in class JoystickBase

Parameters:

pov - The index of the POV to read (starting at 0)

Returns:

the angle of the POV in degrees, or -1 if the POV is not pressed.

getPOVCount

public int getPOVCount()

Description copied from class: GenericHID

For the current HID, return the number of POVs.

Specified by:

getPOVCount in class JoystickBase

getBumper

public boolean getBumper(GenericHID.Hand hand)

This is not supported for the Joystick. This method is only here to complete the GenericHID interface.

Parameters:

hand - This parameter is ignored for the Joystick class and is only here to complete the GenericHID interface.

Returns:

The state of the bumper (always false)

getRawButton

public boolean getRawButton(int button)

Get the button value (starting at button 1).

The appropriate button is returned as a boolean value.

Specified by:

getRawButton in class GenericHID

Parameters:

button - The button number to be read (starting at 1).

Returns:

The state of the button.

getButtonCount

public int getButtonCount()

For the current joystick, return the number of buttons.

getButton

public boolean getButton(Joystick.ButtonType button)

Get buttons based on an enumerated type.

The button type will be looked up in the list of buttons and then read.

Parameters:

button - The type of button to read.

Returns:

The state of the button.

getMagnitude

public double getMagnitude()

Get the magnitude of the direction vector formed by the joystick's current position relative to its origin.

Returns:

The magnitude of the direction vector

getDirectionRadians

public double getDirectionRadians()

Get the direction of the vector formed by the joystick and its origin in radians.

Returns:

The direction of the vector in radians

getDirectionDegrees

public double getDirectionDegrees()

Get the direction of the vector formed by the joystick and its origin in degrees.

Uses acos(-1) to represent Pi due to absence of readily accessable Pi constant in C++

Returns:

The direction of the vector in degrees

getAxisChannel

public int getAxisChannel(Joystick.AxisType axis)

Get the channel currently associated with the specified axis.

Parameters:

axis - The axis to look up the channel for.

Returns:

The channel fr the axis.

setAxisChannel

public void setAxisChannel(Joystick.AxisType axis,
                           int channel)

Set the channel associated with a specified axis.

Parameters:

axis - The axis to set the channel for.

channel - The channel to set the axis to.

getIsXbox

public boolean getIsXbox()

Get the value of isXbox for the current joystick.

Returns:

A boolean that is true if the controller is an xbox controller.

getAxisType

public int getAxisType(int axis)

Get the axis type of a joystick axis.

Returns:

the axis type of a joystick axis.

getType

public GenericHID.HIDType getType()

Get the type of the HID.

Specified by:

getType in class JoystickBase

Returns:

the type of the HID.

getName

public java.lang.String getName()

Get the name of the HID.

Specified by:

getName in class JoystickBase

Returns:

the name of the HID.

setOutput

public void setOutput(int outputNumber,
                      boolean value)

Description copied from class: GenericHID

Set a single HID output value for the HID.

Specified by:

setOutput in class JoystickBase

Parameters:

outputNumber - The index of the output to set (1-32)

value - The value to set the output to

setOutputs

public void setOutputs(int value)

Description copied from class: GenericHID

Set all HID output values for the HID.

Specified by:

setOutputs in class JoystickBase

Parameters:

value - The 32 bit output value (1 bit for each output)

setRumble

public void setRumble(GenericHID.RumbleType type,
                      double value)

Description copied from class: GenericHID

Set the rumble output for the HID. The DS currently supports 2 rumble values, left rumble and right rumble.

Specified by:

setRumble in class JoystickBase

Parameters:

type - Which rumble value to set

value - The normalized value (0 to 1) to set the rumble to