Handle input from standard Joysticks connected to the Driver Station. More...

#include <wpi/driverstation/Joystick.hpp>

Inheritance diagram for wpi::Joystick:

Public Types
enum	AxisType { kXAxis , kYAxis , kZAxis , kTwistAxis , kThrottleAxis }
	Represents an analog axis on a joystick. More...
enum	ButtonType { kTriggerButton , kTopButton }
	Represents a digital button on a joystick. More...
Public Types inherited from wpi::GenericHID
enum	RumbleType { kLeftRumble , kRightRumble , kLeftTriggerRumble , kRightTriggerRumble }
	Represents a rumble output on the Joystick. More...
enum	SupportedOutputs { kNone = 0x0 , kMonoLed = 0x1 , kRgbLed = 0x2 , kPlayerLed = 0x4 , kRumble = 0x8 , kTriggerRumble = 0x10 }
	Represents the various outputs that a HID may support. More...
enum	HIDType { kUnknown = 0 , kStandard , kXbox360 , kXboxOne , kPS3 , kPS4 , kPS5 , kSwitchPro , kSwitchJoyconLeft , kSwitchJoyconRight , kSwitchJoyconPair }
	USB HID interface type. More...

Public Member Functions
	Joystick (int port)
	Construct an instance of a joystick.
	~Joystick () override=default
	Joystick (Joystick &&)=default
Joystick &	operator= (Joystick &&)=default
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.
void	SetTwistChannel (int channel)
	Set the channel associated with the twist axis.
void	SetThrottleChannel (int channel)
	Set the channel associated with the throttle axis.
int	GetXChannel () const
	Get the channel currently associated with the X axis.
int	GetYChannel () const
	Get the channel currently associated with the Y axis.
int	GetZChannel () const
	Get the channel currently associated with the Z axis.
int	GetTwistChannel () const
	Get the channel currently associated with the twist axis.
int	GetThrottleChannel () const
	Get the channel currently associated with the throttle axis.
double	GetX () const
	Get the X value of the current joystick.
double	GetY () const
	Get the Y value of the current joystick.
double	GetZ () const
	Get the Z value of the current joystick.
double	GetTwist () const
	Get the twist value of the current joystick.
double	GetThrottle () const
	Get the throttle value of the current joystick.
bool	GetTrigger () const
	Read the state of the trigger on the joystick.
bool	GetTriggerPressed ()
	Whether the trigger was pressed since the last check.
bool	GetTriggerReleased ()
	Whether the trigger was released since the last check.
BooleanEvent	Trigger (EventLoop *loop) const
	Constructs an event instance around the trigger button's digital signal.
bool	GetTop () const
	Read the state of the top button on the joystick.
bool	GetTopPressed ()
	Whether the top button was pressed since the last check.
bool	GetTopReleased ()
	Whether the top button was released since the last check.
BooleanEvent	Top (EventLoop *loop) const
	Constructs an event instance around the top button's digital signal.
double	GetMagnitude () const
	Get the magnitude of the vector formed by the joystick's current position relative to its origin.
wpi::units::radian_t	GetDirection () const
	Get the direction of the vector formed by the joystick and its origin.
Public Member Functions inherited from wpi::GenericHID
	GenericHID (int port)
virtual	~GenericHID ()=default
	GenericHID (GenericHID &&)=default
GenericHID &	operator= (GenericHID &&)=default
bool	GetRawButton (int button) const
	Get the button value (starting at button 1).
bool	GetRawButtonPressed (int button)
	Whether the button was pressed since the last check.
bool	GetRawButtonReleased (int button)
	Whether the button was released since the last check.
BooleanEvent	Button (int button, EventLoop *loop) const
	Constructs an event instance around this button's digital signal.
double	GetRawAxis (int axis) const
	Get the value of the axis.
DriverStation::POVDirection	GetPOV (int pov=0) const
	Get the angle of a POV on the HID.
BooleanEvent	POV (DriverStation::POVDirection angle, EventLoop *loop) const
	Constructs a BooleanEvent instance based around this angle of a POV on the HID.
BooleanEvent	POV (int pov, DriverStation::POVDirection angle, EventLoop *loop) const
	Constructs a BooleanEvent instance based around this angle of a POV on the HID.
BooleanEvent	POVUp (EventLoop *loop) const
	Constructs a BooleanEvent instance based around the up direction of the default (index 0) POV on the HID.
BooleanEvent	POVUpRight (EventLoop *loop) const
	Constructs a BooleanEvent instance based around the up right direction of the default (index 0) POV on the HID.
BooleanEvent	POVRight (EventLoop *loop) const
	Constructs a BooleanEvent instance based around the right direction of the default (index 0) POV on the HID.
BooleanEvent	POVDownRight (EventLoop *loop) const
	Constructs a BooleanEvent instance based around the down right direction of the default (index 0) POV on the HID.
BooleanEvent	POVDown (EventLoop *loop) const
	Constructs a BooleanEvent instance based around the down direction of the default (index 0) POV on the HID.
BooleanEvent	POVDownLeft (EventLoop *loop) const
	Constructs a BooleanEvent instance based around the down left direction of the default (index 0) POV on the HID.
BooleanEvent	POVLeft (EventLoop *loop) const
	Constructs a BooleanEvent instance based around the left direction of the default (index 0) POV on the HID.
BooleanEvent	POVUpLeft (EventLoop *loop) const
	Constructs a BooleanEvent instance based around the up left direction of the default (index 0) POV on the HID.
BooleanEvent	POVCenter (EventLoop *loop) const
	Constructs a BooleanEvent instance based around the center (not pressed) of the default (index 0) POV on the HID.
BooleanEvent	AxisLessThan (int axis, double threshold, EventLoop *loop) const
	Constructs an event instance that is true when the axis value is less than threshold.
BooleanEvent	AxisGreaterThan (int axis, double threshold, EventLoop *loop) const
	Constructs an event instance that is true when the axis value is greater than threshold.
int	GetAxesMaximumIndex () const
int	GetAxesAvailable () const
	Get the number of axes for the HID.
int	GetPOVsMaximumIndex () const
int	GetPOVsAvailable () const
	Get the number of POVs for the HID.
int	GetButtonsMaximumIndex () const
uint64_t	GetButtonsAvailable () const
	Get the number of buttons for the HID.
bool	IsConnected () const
	Get if the HID is connected.
GenericHID::HIDType	GetGamepadType () const
	Get the type of the HID.
GenericHID::SupportedOutputs	GetSupportedOutputs () const
	Get the supported outputs of the HID.
std::string	GetName () const
	Get the name of the HID.
int	GetPort () const
	Get the port number of the HID.
void	SetLeds (int r, int g, int b)
	Set leds on the controller.
void	SetRumble (RumbleType type, double value)
	Set the rumble output for the HID.
bool	GetTouchpadFingerAvailable (int touchpad, int finger) const
	Check if a touchpad finger is available.
DriverStation::TouchpadFinger	GetTouchpadFinger (int touchpad, int finger) const
	Get the touchpad finger data.

Static Public Attributes
static constexpr int	kDefaultXChannel = 0
	Default X axis channel.
static constexpr int	kDefaultYChannel = 1
	Default Y axis channel.
static constexpr int	kDefaultZChannel = 2
	Default Z axis channel.
static constexpr int	kDefaultTwistChannel = 2
	Default twist axis channel.
static constexpr int	kDefaultThrottleChannel = 3
	Default throttle axis channel.

Detailed Description

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.

Member Enumeration Documentation

◆ AxisType

enum wpi::Joystick::AxisType

Represents an analog axis on a joystick.

Enumerator
kXAxis	X axis.
kYAxis	Y axis.
kZAxis	Z axis.
kTwistAxis	Twist axis.
kThrottleAxis	Throttle axis.

◆ ButtonType

enum wpi::Joystick::ButtonType

Represents a digital button on a joystick.

Enumerator
kTriggerButton	kTrigger.
kTopButton	kTop.

Constructor & Destructor Documentation

◆ Joystick() [1/2]

wpi::Joystick::Joystick ( int port )

explicit

Construct an instance of a joystick.

The joystick index is the USB port on the Driver Station.

Parameters

port	The port on the Driver Station that the joystick is plugged into (0-5).

◆ ~Joystick()

wpi::Joystick::~Joystick ( )

overridedefault

◆ Joystick() [2/2]

wpi::Joystick::Joystick ( Joystick && )

default

Member Function Documentation

◆ GetDirection()

wpi::units::radian_t wpi::Joystick::GetDirection ( ) const

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

0 is forward and clockwise is positive. (Straight right is π/2 radians or 90 degrees.)

Returns: The direction of the vector.

◆ GetMagnitude()

double wpi::Joystick::GetMagnitude ( ) const

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

Returns: The magnitude of the direction vector

◆ GetThrottle()

double wpi::Joystick::GetThrottle ( ) const

Get the throttle value of the current joystick.

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

◆ GetThrottleChannel()

int wpi::Joystick::GetThrottleChannel ( ) const

Get the channel currently associated with the throttle axis.

Returns: The channel for the axis.

◆ GetTop()

bool wpi::Joystick::GetTop ( ) const

Read the state of the top button on the joystick.

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

Returns: The state of the top button.

◆ GetTopPressed()

bool wpi::Joystick::GetTopPressed ( )

Whether the top button was pressed since the last check.

Returns: Whether the button was pressed since the last check.

◆ GetTopReleased()

bool wpi::Joystick::GetTopReleased ( )

Whether the top button was released since the last check.

Returns: Whether the button was released since the last check.

◆ GetTrigger()

bool wpi::Joystick::GetTrigger ( ) const

Read the state of the trigger on the joystick.

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

Returns: The state of the trigger.

◆ GetTriggerPressed()

bool wpi::Joystick::GetTriggerPressed ( )

Whether the trigger was pressed since the last check.

Returns: Whether the button was pressed since the last check.

◆ GetTriggerReleased()

bool wpi::Joystick::GetTriggerReleased ( )

Whether the trigger was released since the last check.

Returns: Whether the button was released since the last check.

◆ GetTwist()

double wpi::Joystick::GetTwist ( ) const

Get the twist value of the current joystick.

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

◆ GetTwistChannel()

int wpi::Joystick::GetTwistChannel ( ) const

Get the channel currently associated with the twist axis.

Returns: The channel for the axis.

◆ GetX()

double wpi::Joystick::GetX ( ) const

Get the X value of the current joystick.

This depends on the mapping of the joystick connected to the current port. On most joysticks, positive is to the right.

◆ GetXChannel()

int wpi::Joystick::GetXChannel ( ) const

Get the channel currently associated with the X axis.

Returns: The channel for the axis.

◆ GetY()

double wpi::Joystick::GetY ( ) const

Get the Y value of the current joystick.

This depends on the mapping of the joystick connected to the current port. On most joysticks, positive is to the back.

◆ GetYChannel()

int wpi::Joystick::GetYChannel ( ) const

Get the channel currently associated with the Y axis.

Returns: The channel for the axis.

◆ GetZ()

double wpi::Joystick::GetZ ( ) const

Get the Z value of the current joystick.

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

◆ GetZChannel()

int wpi::Joystick::GetZChannel ( ) const

Get the channel currently associated with the Z axis.

Returns: The channel for the axis.

◆ operator=()

Joystick & wpi::Joystick::operator= ( Joystick && )

default