Interfaces to a computer joystick. More...

#include <ArJoyHandler.h>

Public Member Functions
	ArJoyHandler (bool useOSCal=true, bool useOldJoystick=false)
	Constructor. More...

void	endCal (void)
	Ends the calibration process. More...

void	getAdjusted (int x, int y, int *z=NULL)
	Gets the adjusted reading, as integers, based on the setSpeed. More...

double	getAxis (unsigned int axis)
	Gets the floating (-1 to 1) location of the given joystick axis. More...

bool	getButton (unsigned int button)
	Gets the button. More...

void	getDoubles (double x, double y, double *z=NULL)
	Gets the adjusted reading, as floats, between -1.0 and 1.0. More...

unsigned int	getNumAxes (void)
	Gets the number of axes the joystick has. More...

unsigned int	getNumButtons (void)
	Gets the number of buttons the joystick has. More...

void	getSpeeds (int x, int y, int *z)
	Gets the maximums for each axis. More...

void	getStats (int maxX, int minX, int maxY, int minY, int cenX, int cenY)
	Gets the stats for the joystick, useful after calibrating to save values.

void	getUnfiltered (int x, int y, int *z=NULL)
	Gets the unfilitered reading, mostly for internal use, maybe useful for Calibration. More...

bool	getUseOSCal (void)
	Gets whether to just use OS calibration or not. More...

bool	haveJoystick (void)
	Returns if the joystick was successfully initialized or not.

bool	haveZAxis (void)
	Returns true if we definitely have a Z axis (we don't know in windows unless it moves)

bool	init (void)
	Intializes the joystick, returns true if successful.

void	setSpeeds (int x, int y, int z=0)
	Sets the maximums for the x, y and optionally, z axes.

void	setStats (int maxX, int minX, int maxY, int minY, int cenX, int cenY)
	Sets the stats for the joystick, useful for restoring calibrated settings.

void	setUseOSCal (bool useOSCal)
	Sets whether to just use OS calibration or not. More...

void	startCal (void)
	Starts the calibration process. More...

	~ArJoyHandler ()
	Destructor.

Protected Member Functions
void	getData (void)

void	getNewData (void)
	Handles the reading of the data into the bins.

void	getOldData (void)

Protected Attributes
std::map< unsigned int, int >	myAxes

std::map< unsigned int, bool >	myButtons

int	myCenX

int	myCenY

bool	myFirstData

bool	myHaveZ

bool	myInitialized

int	myJoyData

int	myJoyDesc

char	myJoyNameTemp [512]

int	myJoyNumber

ArTime	myLastDataGathered

ArTime	myLastOpenTry

int	myMaxX

int	myMaxY

int	myMinX

int	myMinY

FILE *	myOldJoyDesc

int	myPhysMax

int	myTopX

int	myTopY

int	myTopZ

bool	myUseOld

bool	myUseOSCal

Detailed Description

Interfaces to a computer joystick.

This class is used to read data from a joystick device attached to the computer (usually via USB). The joystick handler keeps track of the minimum and maximums for both axes, updating them to constantly be better calibrated. The speeds set with setSpeed() influence what is returned by getAdjusted() or getDoubles().

The joystick device is not opened until init() is called. If there was an error connecting to the joystick device, it will return false, and haveJoystick() will return false. After calling init(), use getAdjusted() or getDoubles() to get values, and getButton() to check whether a button is pressed. setSpeed() may be called at any time to configure or reconfigure the range of the values returned by getAdjusted() and getDoubles().

To get the raw data instead, use getUnfiltered() or getAxis().

For example, if you want the X axis output to range from -1000 to 1000, and the Y axis output to range from -100 to 100, call setSpeed(1000, 100);.

The X joystick axis is usually the left-right axis, and Y is forward-back. If a joystick has a Z axis, it is usually a "throttle" slider or dial on the joystick. The usual way to drive a robot with a joystick is to use the X joystick axis for rotational velocity, and Y for translational velocity (note the robot coordinate system, this is its local X axis), and use the Z axis to adjust the robot's maximum driving speed.

Examples:: gpsRobotTaskExample.cpp, and joydriveActionExample.cpp.

Constructor & Destructor Documentation

◆ ArJoyHandler()

ArJoyHandler::ArJoyHandler	(	bool	useOSCal = `true`,
		bool	useOld = `false`
	)

Constructor.

Parameters

useOSCal	if this is set then the joystick will just rely on the OS to calibrate, otherwise it will keep track of center min and max and use those values for calibration
useOld	use the old linux interface to the joystick

Member Function Documentation

◆ endCal()

void ArJoyHandler::endCal ( void )

Ends the calibration process.

Ends the calibration, which also sets the center to where the joystick is when the function is called...

the center is never reset except in this function, whereas the min and maxes are constantly checked

See also: startCal

◆ getAdjusted()

void ArJoyHandler::getAdjusted	(	int *	x,
		int *	y,
		int *	z = `NULL`
	)

Gets the adjusted reading, as integers, based on the setSpeed.

if useOSCal is true then this returns the readings as calibrated from the OS.

If useOSCal is false this finds the percentage of the distance between center and max (or min) then takes this percentage and multiplies it by the speeds given the class, and returns the values computed from this.

Parameters

x	pointer to an integer in which to store the x value, which will be within the range [-1 * x given in setSpeeds(), x given in setSpeeds()]
y	pointer to an integer in which to store the y value, which will be within the range [-1 * y given in setSpeeds(), y given in setSpeeds()]
z	pointer to an integer in which to store the z value, which will be within the range [-1 * z given in setSpeeds(), z given in setSpeeds()]

Java Wrapper Library: Use the version of this method returning ArJoyVec3i

Python Wrapper Library: returns a tuple of (x, y, z) instead

◆ getAxis()

double ArJoyHandler::getAxis ( unsigned int axis )

Gets the floating (-1 to 1) location of the given joystick axis.

Parameters

axis	axis to get, should range from 1 through getNumAxes()

now make sure its in there if (myAxes.find(axis) == myAxes.end()) return 0; return myAxes[axis]/128.0;

◆ getButton()

bool ArJoyHandler::getButton ( unsigned int button )

Gets the button.

Parameters

button button to test for pressed, within the range 1 through getNumButtons()

Returns: true if the button is pressed, false otherwise

◆ getDoubles()

void ArJoyHandler::getDoubles	(	double *	x,
		double *	y,
		double *	z = `NULL`
	)

Gets the adjusted reading, as floats, between -1.0 and 1.0.

If useOSCal is true then this gets normalized values (between -1.0 and 1.0) as calibrated by the OS.

In other words, the range [-1.0,1.0] is scaled to the calibrated range determined by the set maximum. If useOSCal is false this finds the percentage of the distance between center and max (or min) then takes this percentage and multiplies it by the speeds given the class, and returns the values computed from this.

Parameters

x	pointer to an integer in which to store the x value. Will be within the range [-1.0, 1.0]
y	pointer to an integer in which to store the y value. Will be within the range [-1.0, 1.0]
z	pointer to an integer in which to store the z value. Will be within the range [-1.0, 1.0]

Python Wrapper Library: Returns a tuple of (x, y, z) instead

Java Wrapper Library: Use the version of this method returning ArJoyVec3f

Python Wrapper Library: Returns a tuple of (x, y, z) instead

◆ getNumAxes()

unsigned int ArJoyHandler::getNumAxes ( void )

Gets the number of axes the joystick has.

Returns: the number of axes (axes are indexed as 1 through this number)

◆ getNumButtons()

unsigned int ArJoyHandler::getNumButtons ( void )

Gets the number of buttons the joystick has.

Returns: the number of buttons (buttons are indexed as 1 through this number)

◆ getSpeeds()

void ArJoyHandler::getSpeeds	(	int *	x,
		int *	y,
		int *	z
	)

Gets the maximums for each axis.

Java and Python Wrappers: Use the version of this method returning ArJoyVec3i

◆ getUnfiltered()

void ArJoyHandler::getUnfiltered	(	int *	x,
		int *	y,
		int *	z = `NULL`
	)

Gets the unfilitered reading, mostly for internal use, maybe useful for Calibration.

This returns the raw value from the joystick...

with X and Y varying between -128 and 128. This data normally shouldn't be used except in calibration since it can give very uncentered or inconsistent readings. For example its not uncommon for a joystick to move 10 to the right but 50 or 100 to the left, so if you aren't adjusting for this you get a robot (or whatever) that goes left really fast, but will hardly go right. Instead you should use getAdjusted() exclusively except for calibration, or informational purposes.

Parameters

x	pointer to an integer in which to store x value
y	pointer to an integer in which to store y value
z	pointer to an integer in which to store z value

Java Wrapper Library: Use the version of this method returning ArJoyVec3i

Python Wrapper Library: Returns a tuple of (x, y, z) instead

◆ getUseOSCal()

bool ArJoyHandler::getUseOSCal ( void )

Gets whether to just use OS calibration or not.

Returns: if useOSCal is set then the joystick will just rely on the OS to calibrate, otherwise it will keep track of center min and max and use those values for calibration

◆ setUseOSCal()

void ArJoyHandler::setUseOSCal ( bool useOSCal )

Sets whether to just use OS calibration or not.

Parameters

useOSCal if this is set then the joystick will just rely on the OS to calibrate, otherwise it will keep track of center min and max and use those values for calibration

◆ startCal()

void ArJoyHandler::startCal ( void )

Starts the calibration process.

Starts the calibration, which resets all the min and max variables as well as the center variables.

See also: endCal

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

ArJoyHandler.h
ArJoyHandler.cpp
ArJoyHandler_LIN.cpp
ArJoyHandler_WIN.cpp

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

◆ ArJoyHandler()

Member Function Documentation

◆ endCal()

◆ getAdjusted()

◆ getAxis()

◆ getButton()

◆ getDoubles()

◆ getNumAxes()

◆ getNumButtons()

◆ getSpeeds()

◆ getUnfiltered()

◆ getUseOSCal()

◆ setUseOSCal()

◆ startCal()