edu.wpi.first.wpilibj

Class Joystick

java.lang.Object

edu.wpi.first.wpilibj.GenericHID

edu.wpi.first.wpilibj.Joystick

public class Joystick
extends GenericHID

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 a joystick.

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

GenericHID.Hand, GenericHID.HIDType, GenericHID.RumbleType

Constructor Summary

Constructors

Constructor and Description
Joystick(int port) Construct an instance of a joystick.

Method Summary

Modifier and Type	Method and Description
double	getAxis(Joystick.AxisType axis) Deprecated. Use the more specific axis getter functions.
int	getAxisChannel(Joystick.AxisType axis) Deprecated. Use the more specific axis channel getter functions.
boolean	getButton(Joystick.ButtonType button) Deprecated. Use Button enum values instead of ButtonType.
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.
double	getMagnitude() Get the magnitude of the direction vector formed by the joystick's current position relative to its origin.
double	getThrottle() Get the throttle value of the current joystick.
int	getThrottleChannel() Get the channel currently associated with the throttle axis.
boolean	getTop() Read the state of the top button on the joystick.
boolean	getTopPressed() Whether the top button was pressed since the last check.
boolean	getTopReleased() Whether the top button was released since the last check.
boolean	getTrigger() Read the state of the trigger on the joystick.
boolean	getTriggerPressed() Whether the trigger was pressed since the last check.
boolean	getTriggerReleased() Whether the trigger was released since the last check.
double	getTwist() Get the twist value of the current joystick.
int	getTwistChannel() Get the channel currently associated with the twist axis.
double	getX(GenericHID.Hand hand) Get the X value of the joystick.
int	getXChannel() Get the channel currently associated with the X axis.
double	getY(GenericHID.Hand hand) Get the Y value of the joystick.
int	getYChannel() Get the channel currently associated with the Y axis.
double	getZ() Get the z position of the HID.
int	getZChannel() Get the channel currently associated with the Z axis.
void	setAxisChannel(Joystick.AxisType axis, int channel) Deprecated. Use the more specific axis channel setter functions.
void	setThrottleChannel(int channel) Set the channel associated with the throttle axis.
void	setTwistChannel(int channel) Set the channel associated with the twist axis.
void	setXChannel(int channel) Set the channel associated with the X axis.
void	setYChannel(int channel) Set the channel associated with the Y axis.
void	setZChannel(int channel) Set the channel associated with the Z axis.

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

getAxisCount, getAxisType, getButtonCount, getName, getPort, getPOV, getPOV, getPOVCount, getRawAxis, getRawButton, getRawButtonPressed, getRawButtonReleased, getType, getX, getY, setOutput, setOutputs, setRumble

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.

Method Detail

setXChannel

public void setXChannel(int channel)

Set the channel associated with the X axis.

Parameters:

channel - The channel to set the axis to.

setYChannel

public void setYChannel(int channel)

Set the channel associated with the Y axis.

Parameters:

channel - The channel to set the axis to.

setZChannel

public void setZChannel(int channel)

Set the channel associated with the Z axis.

Parameters:

channel - The channel to set the axis to.

setThrottleChannel

public void setThrottleChannel(int channel)

Set the channel associated with the throttle axis.

Parameters:

channel - The channel to set the axis to.

setTwistChannel

public void setTwistChannel(int channel)

Set the channel associated with the twist axis.

Parameters:

channel - The channel to set the axis to.

setAxisChannel

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

Deprecated. Use the more specific axis channel setter functions.

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.

getXChannel

public int getXChannel()

Get the channel currently associated with the X axis.

Returns:

The channel for the axis.

getYChannel

public int getYChannel()

Get the channel currently associated with the Y axis.

Returns:

The channel for the axis.

getZChannel

public int getZChannel()

Get the channel currently associated with the Z axis.

Returns:

The channel for the axis.

getTwistChannel

public int getTwistChannel()

Get the channel currently associated with the twist axis.

Returns:

The channel for the axis.

getThrottleChannel

public int getThrottleChannel()

Get the channel currently associated with the throttle axis.

Returns:

The channel for the axis.

getAxisChannel

@Deprecated
public int getAxisChannel(Joystick.AxisType axis)

Deprecated. Use the more specific axis channel getter functions.

Get the channel currently associated with the specified axis.

Parameters:

axis - The axis to look up the channel for.

Returns:

The channel for the axis.

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 double getZ()

Get the z position of the HID.

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.

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.

Returns:

The Throttle value of the joystick.

getAxis

@Deprecated
public double getAxis(Joystick.AxisType axis)

Deprecated. Use the more specific axis getter functions.

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

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

Parameters:

axis - The axis to read.

Returns:

The value of the axis.

getTrigger

public boolean getTrigger()

Read the state of the trigger on the joystick.

Returns:

The state of the trigger.

getTriggerPressed

public boolean getTriggerPressed()

Whether the trigger was pressed since the last check.

Returns:

Whether the button was pressed since the last check.

getTriggerReleased

public boolean getTriggerReleased()

Whether the trigger was released since the last check.

Returns:

Whether the button was released since the last check.

getTop

public boolean getTop()

Read the state of the top button on the joystick.

Returns:

The state of the top button.

getTopPressed

public boolean getTopPressed()

Whether the top button was pressed since the last check.

Returns:

Whether the button was pressed since the last check.

getTopReleased

public boolean getTopReleased()

Whether the top button was released since the last check.

Returns:

Whether the button was released since the last check.

getButton

@Deprecated
public boolean getButton(Joystick.ButtonType button)

Deprecated. Use Button enum values instead of ButtonType.

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.

Returns:

The direction of the vector in degrees