Package edu.wpi.first.wpilibj
Class Joystick
- java.lang.Object
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- edu.wpi.first.wpilibj.GenericHID
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- edu.wpi.first.wpilibj.Joystick
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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.
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Nested Class Summary
Nested Classes Modifier and Type Class 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
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Constructor Summary
Constructors Constructor Description Joystick(int port)
Construct an instance of a joystick.
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Method Summary
All Methods Instance Methods Concrete Methods Deprecated Methods Modifier and Type Method 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
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Method Detail
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setXChannel
public void setXChannel(int channel)
Set the channel associated with the X axis.- Parameters:
channel
- The channel to set the axis to.
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setYChannel
public void setYChannel(int channel)
Set the channel associated with the Y axis.- Parameters:
channel
- The channel to set the axis to.
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setZChannel
public void setZChannel(int channel)
Set the channel associated with the Z axis.- Parameters:
channel
- The channel to set the axis to.
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setThrottleChannel
public void setThrottleChannel(int channel)
Set the channel associated with the throttle axis.- Parameters:
channel
- The channel to set the axis to.
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setTwistChannel
public void setTwistChannel(int channel)
Set the channel associated with the twist axis.- Parameters:
channel
- The channel to set the axis to.
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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.
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getXChannel
public int getXChannel()
Get the channel currently associated with the X axis.- Returns:
- The channel for the axis.
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getYChannel
public int getYChannel()
Get the channel currently associated with the Y axis.- Returns:
- The channel for the axis.
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getZChannel
public int getZChannel()
Get the channel currently associated with the Z axis.- Returns:
- The channel for the axis.
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getTwistChannel
public int getTwistChannel()
Get the channel currently associated with the twist axis.- Returns:
- The channel for the axis.
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getThrottleChannel
public int getThrottleChannel()
Get the channel currently associated with the throttle axis.- Returns:
- The channel for the axis.
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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.
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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 classGenericHID
- Parameters:
hand
- Unused- Returns:
- The X value of the joystick.
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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 classGenericHID
- Parameters:
hand
- Unused- Returns:
- The Y value of the joystick.
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getZ
public double getZ()
Get the z position of the HID.- Returns:
- the z position
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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.
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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.
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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.
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getTrigger
public boolean getTrigger()
Read the state of the trigger on the joystick.- Returns:
- The state of the trigger.
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getTriggerPressed
public boolean getTriggerPressed()
Whether the trigger was pressed since the last check.- Returns:
- Whether the button was pressed since the last check.
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getTriggerReleased
public boolean getTriggerReleased()
Whether the trigger was released since the last check.- Returns:
- Whether the button was released since the last check.
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getTop
public boolean getTop()
Read the state of the top button on the joystick.- Returns:
- The state of the top button.
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getTopPressed
public boolean getTopPressed()
Whether the top button was pressed since the last check.- Returns:
- Whether the button was pressed since the last check.
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getTopReleased
public boolean getTopReleased()
Whether the top button was released since the last check.- Returns:
- Whether the button was released since the last check.
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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.
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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
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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
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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
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