WPILibC++  2020.3.2-60-g3011ebe
frc::Joystick Class Reference

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

#include <Joystick.h>

Inheritance diagram for frc::Joystick:

## Public Types

enum  AxisType {
kXAxis, kYAxis, kZAxis, kTwistAxis,
kThrottleAxis
}

enum  ButtonType { kTriggerButton, kTopButton }

Public Types inherited from frc::GenericHID
enum  RumbleType { kLeftRumble, kRightRumble }

enum  HIDType {
kUnknown = -1, kXInputUnknown = 0, kXInputGamepad = 1, kXInputWheel = 2,
kXInputArcadeStick = 3, kXInputFlightStick = 4, kXInputDancePad = 5, kXInputGuitar = 6,
kXInputGuitar2 = 7, kXInputDrumKit = 8, kXInputGuitar3 = 11, kXInputArcadePad = 19,
kHIDJoystick = 20, kHIDGamepad = 21, kHIDDriving = 22, kHIDFlight = 23,
kHID1stPerson = 24
}

enum  JoystickHand { kLeftHand = 0, kRightHand = 1 }

## Public Member Functions

Joystick (int port)
Construct an instance of a joystick. More...

Joystick (Joystick &&)=default

Joystickoperator= (Joystick &&)=default

void SetXChannel (int channel)
Set the channel associated with the X axis. More...

void SetYChannel (int channel)
Set the channel associated with the Y axis. More...

void SetZChannel (int channel)
Set the channel associated with the Z axis. More...

void SetTwistChannel (int channel)
Set the channel associated with the twist axis. More...

void SetThrottleChannel (int channel)
Set the channel associated with the throttle axis. More...

int GetXChannel () const
Get the channel currently associated with the X axis. More...

int GetYChannel () const
Get the channel currently associated with the Y axis. More...

int GetZChannel () const
Get the channel currently associated with the Z axis. More...

int GetTwistChannel () const
Get the channel currently associated with the twist axis. More...

int GetThrottleChannel () const
Get the channel currently associated with the throttle axis. More...

double GetX (JoystickHand hand=kRightHand) const override
Get the X value of the joystick. More...

double GetY (JoystickHand hand=kRightHand) const override
Get the Y value of the joystick. More...

double GetZ () const
Get the Z value of the current joystick. More...

double GetTwist () const
Get the twist value of the current joystick. More...

double GetThrottle () const
Get the throttle value of the current joystick. More...

bool GetTrigger () const
Read the state of the trigger on the joystick. More...

bool GetTriggerPressed ()
Whether the trigger was pressed since the last check. More...

bool GetTriggerReleased ()
Whether the trigger was released since the last check. More...

bool GetTop () const
Read the state of the top button on the joystick. More...

bool GetTopPressed ()
Whether the top button was pressed since the last check. More...

bool GetTopReleased ()
Whether the top button was released since the last check. More...

double GetMagnitude () const
Get the magnitude of the direction vector formed by the joystick's current position relative to its origin. More...

double GetDirectionRadians () const
Get the direction of the vector formed by the joystick and its origin in radians. More...

double GetDirectionDegrees () const
Get the direction of the vector formed by the joystick and its origin in degrees. More...

Public Member Functions inherited from frc::GenericHID
GenericHID (int port)

GenericHID (GenericHID &&)=default

GenericHIDoperator= (GenericHID &&)=default

bool GetRawButton (int button) const
Get the button value (starting at button 1). More...

bool GetRawButtonPressed (int button)
Whether the button was pressed since the last check. More...

bool GetRawButtonReleased (int button)
Whether the button was released since the last check. More...

double GetRawAxis (int axis) const
Get the value of the axis. More...

int GetPOV (int pov=0) const
Get the angle in degrees of a POV on the HID. More...

int GetAxisCount () const
Get the number of axes for the HID. More...

int GetPOVCount () const
Get the number of POVs for the HID. More...

int GetButtonCount () const
Get the number of buttons for the HID. More...

GenericHID::HIDType GetType () const
Get the type of the HID. More...

std::string GetName () const
Get the name of the HID. More...

int GetAxisType (int axis) const
Get the axis type of a joystick axis. More...

int GetPort () const
Get the port number of the HID. More...

void SetOutput (int outputNumber, bool value)
Set a single HID output value for the HID. More...

void SetOutputs (int value)
Set all output values for the HID. More...

void SetRumble (RumbleType type, double value)
Set the rumble output for the HID. More...

Public Member Functions inherited from frc::ErrorBase
ErrorBase (const ErrorBase &)=default

ErrorBaseoperator= (const ErrorBase &)=default

ErrorBase (ErrorBase &&)=default

ErrorBaseoperator= (ErrorBase &&)=default

virtual ErrorGetError ()
Retrieve the current error. More...

virtual const ErrorGetError () const
Retrieve the current error. More...

virtual void ClearError () const
Clear the current error information associated with this sensor.

virtual void SetErrnoError (const wpi::Twine &contextMessage, wpi::StringRef filename, wpi::StringRef function, int lineNumber) const
Set error information associated with a C library call that set an error to the "errno" global variable. More...

virtual void SetImaqError (int success, const wpi::Twine &contextMessage, wpi::StringRef filename, wpi::StringRef function, int lineNumber) const
Set the current error information associated from the nivision Imaq API. More...

virtual void SetError (Error::Code code, const wpi::Twine &contextMessage, wpi::StringRef filename, wpi::StringRef function, int lineNumber) const
Set the current error information associated with this sensor. More...

virtual void SetErrorRange (Error::Code code, int32_t minRange, int32_t maxRange, int32_t requestedValue, const wpi::Twine &contextMessage, wpi::StringRef filename, wpi::StringRef function, int lineNumber) const
Set the current error information associated with this sensor. More...

virtual void SetWPIError (const wpi::Twine &errorMessage, Error::Code code, const wpi::Twine &contextMessage, wpi::StringRef filename, wpi::StringRef function, int lineNumber) const
Set the current error information associated with this sensor. More...

virtual void CloneError (const ErrorBase &rhs) const

virtual bool StatusIsFatal () const
Check if the current error code represents a fatal error. More...

void ClearGlobalErrors ()
Clear global errors.

## Static Public Attributes

static constexpr int kDefaultXChannel = 0

static constexpr int kDefaultYChannel = 1

static constexpr int kDefaultZChannel = 2

static constexpr int kDefaultTwistChannel = 2

static constexpr int kDefaultThrottleChannel = 3

## Additional Inherited Members

Static Public Member Functions inherited from frc::ErrorBase
static void SetGlobalError (Error::Code code, const wpi::Twine &contextMessage, wpi::StringRef filename, wpi::StringRef function, int lineNumber)

static void SetGlobalWPIError (const wpi::Twine &errorMessage, const wpi::Twine &contextMessage, wpi::StringRef filename, wpi::StringRef function, int lineNumber)

static Error GetGlobalError ()
Retrieve the last global error.

static std::vector< ErrorGetGlobalErrors ()
Retrieve all global errors.

Protected Attributes inherited from frc::ErrorBase
Error m_error

## 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.

## ◆ Joystick()

 frc::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).

## ◆ GetDirectionDegrees()

 double frc::Joystick::GetDirectionDegrees ( ) const

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

Returns
The direction of the vector in degrees

 double frc::Joystick::GetDirectionRadians ( ) const

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

Returns
The direction of the vector in radians

## ◆ GetMagnitude()

 double frc::Joystick::GetMagnitude ( ) const

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

## ◆ GetThrottle()

 double frc::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 frc::Joystick::GetThrottleChannel ( ) const

Get the channel currently associated with the throttle axis.

Returns
The channel for the axis.

## ◆ GetTop()

 bool frc::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 frc::Joystick::GetTopPressed ( )

Whether the top button was pressed since the last check.

Returns
Whether the button was pressed since the last check.

## ◆ GetTopReleased()

 bool frc::Joystick::GetTopReleased ( )

Whether the top button was released since the last check.

Returns
Whether the button was released since the last check.

## ◆ GetTrigger()

 bool frc::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 frc::Joystick::GetTriggerPressed ( )

Whether the trigger was pressed since the last check.

Returns
Whether the button was pressed since the last check.

## ◆ GetTriggerReleased()

 bool frc::Joystick::GetTriggerReleased ( )

Whether the trigger was released since the last check.

Returns
Whether the button was released since the last check.

## ◆ GetTwist()

 double frc::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 frc::Joystick::GetTwistChannel ( ) const

Get the channel currently associated with the twist axis.

Returns
The channel for the axis.

## ◆ GetX()

 double frc::Joystick::GetX ( JoystickHand hand = kRightHand ) const
overridevirtual

Get the X value of the joystick.

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

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

Implements frc::GenericHID.

## ◆ GetXChannel()

 int frc::Joystick::GetXChannel ( ) const

Get the channel currently associated with the X axis.

Returns
The channel for the axis.

## ◆ GetY()

 double frc::Joystick::GetY ( JoystickHand hand = kRightHand ) const
overridevirtual

Get the Y value of the joystick.

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

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

Implements frc::GenericHID.

## ◆ GetYChannel()

 int frc::Joystick::GetYChannel ( ) const

Get the channel currently associated with the Y axis.

Returns
The channel for the axis.

## ◆ GetZ()

 double frc::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 frc::Joystick::GetZChannel ( ) const

Get the channel currently associated with the Z axis.

Returns
The channel for the axis.

## ◆ SetThrottleChannel()

 void frc::Joystick::SetThrottleChannel ( int channel )

Set the channel associated with the throttle axis.

Parameters
 axis The axis to set the channel for. channel The channel to set the axis to.

## ◆ SetTwistChannel()

 void frc::Joystick::SetTwistChannel ( int channel )

Set the channel associated with the twist axis.

Parameters
 axis The axis to set the channel for. channel The channel to set the axis to.

## ◆ SetXChannel()

 void frc::Joystick::SetXChannel ( int channel )

Set the channel associated with the X axis.

Parameters
 channel The channel to set the axis to.

## ◆ SetYChannel()

 void frc::Joystick::SetYChannel ( int channel )

Set the channel associated with the Y axis.

Parameters
 axis The axis to set the channel for. channel The channel to set the axis to.

## ◆ SetZChannel()

 void frc::Joystick::SetZChannel ( int channel )

Set the channel associated with the Z axis.

Parameters
 axis The axis to set the channel for. channel The channel to set the axis to.

The documentation for this class was generated from the following file:
• /__w/1/s/wpilibc/src/main/native/include/frc/Joystick.h