#----------------------------------------------------------------------------
# Copyright (c) FIRST 2008-2012. All Rights Reserved.
# Open Source Software - may be modified and shared by FRC teams. The code
# must be accompanied by the FIRST BSD license file in the root directory of
# the project.
#----------------------------------------------------------------------------
import hal
import math
__all__ = ["Joystick"]
[docs]class Joystick:
"""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.
"""
kDefaultXAxis = 0
kDefaultYAxis = 1
kDefaultZAxis = 2
kDefaultTwistAxis = 2
kDefaultThrottleAxis = 3
kDefaultTriggerButton = 1
kDefaultTopButton = 2
[docs] class AxisType:
"""Represents an analog axis on a joystick."""
kX = 0
kY = 1
kZ = 2
kTwist = 3
kThrottle = 4
kNumAxis = 5
[docs] class RumbleType:
"""Represents a rumble output on the Joystick"""
kLeftRumble_val = 0
kRightRumble_val = 1
def __init__(self, port, numAxisTypes=None, numButtonTypes=None):
"""Construct an instance of a joystick.
The joystick index is the usb port on the drivers station.
This constructor is intended for use by subclasses to configure the
number of constants for axes and buttons.
:param port: The port on the driver station that the joystick is
plugged into.
:type port: int
:param numAxisTypes: The number of axis types.
:type numAxisTypes: int
:param numButtonTypes: The number of button types.
:type numButtonTypes: int
"""
from .driverstation import DriverStation
self.ds = DriverStation.getInstance()
self.port = port
if numAxisTypes is None:
self.axes = [0]*self.AxisType.kNumAxis
self.axes[self.AxisType.kX] = self.kDefaultXAxis
self.axes[self.AxisType.kY] = self.kDefaultYAxis
self.axes[self.AxisType.kZ] = self.kDefaultZAxis
self.axes[self.AxisType.kTwist] = self.kDefaultTwistAxis
self.axes[self.AxisType.kThrottle] = self.kDefaultThrottleAxis
else:
self.axes = [0]*numAxisTypes
if numButtonTypes is None:
self.buttons = [0]*self.ButtonType.kNumButton
self.buttons[self.ButtonType.kTrigger] = self.kDefaultTriggerButton
self.buttons[self.ButtonType.kTop] = self.kDefaultTopButton
else:
self.buttons = [0]*numButtonTypes
self.outputs = 0
self.leftRumble = 0
self.rightRumble = 0
hal.HALReport(hal.HALUsageReporting.kResourceType_Joystick, port)
[docs] def getX(self, hand=None):
"""Get the X value of the joystick.
This depends on the mapping of the joystick connected to the current
port.
:param hand: Unused
:returns: The X value of the joystick.
:rtype: float
"""
return self.getRawAxis(self.axes[self.AxisType.kX])
[docs] def getY(self, hand=None):
"""Get the Y value of the joystick.
This depends on the mapping of the joystick connected to the current
port.
:param hand: Unused
:returns: The Y value of the joystick.
:rtype: float
"""
return self.getRawAxis(self.axes[self.AxisType.kY])
[docs] def getZ(self, hand=None):
"""Get the Z value of the joystick.
This depends on the mapping of the joystick connected to the current
port.
:param hand: Unused
:returns: The Z value of the joystick.
:rtype: float
"""
return self.getRawAxis(self.axes[self.AxisType.kZ])
[docs] def getTwist(self):
"""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.
:rtype: float
"""
return self.getRawAxis(self.axes[self.AxisType.kTwist])
[docs] def getThrottle(self):
"""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.
:rtype: float
"""
return self.getRawAxis(self.axes[self.AxisType.kThrottle])
[docs] def getRawAxis(self, axis):
"""Get the value of the axis.
:param axis: The axis to read, starting at 0.
:type axis: int
:returns: The value of the axis.
:rtype: float
"""
return self.ds.getStickAxis(self.port, axis)
[docs] def getAxis(self, axis):
"""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 :func:`getX`).
:param axis: The axis to read.
:returns: The value of the axis.
:rtype: float
"""
if axis == self.AxisType.kX:
return self.getX()
elif axis == self.AxisType.kY:
return self.getY()
elif axis == self.AxisType.kZ:
return self.getZ()
elif axis == self.AxisType.kTwist:
return self.getTwist()
elif axis == self.AxisType.kThrottle:
return self.getThrottle()
else:
return 0.0
[docs] def getAxisCount(self):
"""For the current joystick, return the number of axis"""
return self.ds.getStickAxisCount(self.port)
[docs] def getTrigger(self, hand=None):
"""Read the state of the trigger on the joystick.
Look up which button has been assigned to the trigger and read its
state.
:param hand: This parameter is ignored for the Joystick class and is
only here to complete the GenericHID interface.
:returns: The state of the trigger.
:rtype: bool
"""
return self.getRawButton(self.buttons[self.ButtonType.kTrigger])
[docs] def getTop(self, hand=None):
"""Read the state of the top button on the joystick.
Look up which button has been assigned to the top and read its state.
:param hand: This parameter is ignored for the Joystick class and is
only here to complete the GenericHID interface.
:returns: The state of the top button.
:rtype: bool
"""
return self.getRawButton(self.buttons[self.ButtonType.kTop])
[docs] def getBumper(self, hand=None):
"""This is not supported for the Joystick.
This method is only here to complete the GenericHID interface.
:param hand: This parameter is ignored for the Joystick class and is
only here to complete the GenericHID interface.
:returns: The state of the bumper (always False)
:rtype: bool
"""
return False
[docs] def getPOV(self, pov=0):
"""Get the state of a POV on the joystick.
:param pov: which POV (default is 0)
:type pov: int
:returns: The angle of the POV in degrees, or -1 if the POV is not
pressed.
:rtype: float
"""
return self.ds.getStickPOV(self.port, pov)
[docs] def getPOVCount(self):
"""For the current joystick, return the number of POVs
:rtype: int
"""
return self.ds.getStickPOVCount(self.port)
[docs] def getMagnitude(self):
"""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
:rtype: float
"""
return math.sqrt(math.pow(self.getX(), 2) + math.pow(self.getY(), 2))
[docs] def getDirectionRadians(self):
"""Get the direction of the vector formed by the joystick and its
origin in radians.
:returns: The direction of the vector in radians
:rtype: float
"""
return math.atan2(self.getX(), -self.getY())
[docs] def getDirectionDegrees(self):
"""Get the direction of the vector formed by the joystick and its
origin in degrees.
:returns: The direction of the vector in degrees
:rtype: float
"""
return math.degrees(self.getDirectionRadians())
[docs] def getAxisChannel(self, axis):
"""Get the channel currently associated with the specified axis.
:param axis: The axis to look up the channel for.
:type axis: int
:returns: The channel for the axis.
:rtype: int
"""
return self.axes[axis]
[docs] def setAxisChannel(self, axis, channel):
"""Set the channel associated with a specified axis.
:param axis: The axis to set the channel for.
:type axis: int
:param channel: The channel to set the axis to.
:type channel: int
"""
self.axes[axis] = channel
[docs] def setRumble(self, type, value):
"""Set the rumble output for the joystick. The DS currently supports 2 rumble values,
left rumble and right rumble
:param type: Which rumble value to set
:type type: :class:`.Joystick.RumbleType`
:param value: The normalized value (0 to 1) to set the rumble to
:type value: float
"""
if value < 0:
value = 0
elif value > 1:
value = 1
if type == self.RumbleType.kLeftRumble_val:
self.leftRumble = int(value*65535)
elif type == self.RumbleType.kRightRumble_val:
self.rightRumble = int(value*65535)
else:
raise ValueError("Invalid Rumble type: {}".format(type))
self.flush_outputs()
[docs] def setOutput(self, outputNumber, value):
"""Set a single HID output value for the joystick.
:param outputNumber: The index of the output to set (1-32)
:param value: The value to set the output to.
"""
self.outputs = (self.outputs & ~(value << (outputNumber-1))) | (value << (outputNumber-1))
self.flush_outputs()
[docs] def setOutputs(self, value):
"""Set all HID output values for the joystick.
:param value: The 32 bit output value (1 bit for each output)
:type value: int
"""
self.outputs = value
self.flush_outputs()
[docs] def flush_outputs(self):
"""Flush all joystick HID & rumble output values to the HAL"""
hal.HALSetJoystickOutputs(self.port, self.outputs, self.leftRumble, self.rightRumble)