Joystick

class wpilib.Joystick(*args, **kwargs)

Bases: HIDDevice

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.

Overloaded function.

  1. __init__(self: wpilib._wpilib.Joystick, port: typing.SupportsInt | typing.SupportsIndex) -> None

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).

  1. __init__(self: wpilib._wpilib.Joystick, hid: wpilib._wpilib.GenericHID) -> None

Construct an instance of a joystick with a GenericHID object.

Parameters:

hid – The GenericHID object to use for this joystick.

class AxisType(value: SupportsInt | SupportsIndex)

Bases: pybind11_object

Represents an analog axis on a joystick.

Members:

X_AXIS : X axis.

Y_AXIS : Y axis.

Z_AXIS : Z axis.

TWIST_AXIS : Twist axis.

THROTTLE_AXIS : Throttle axis.

THROTTLE_AXIS = <AxisType.THROTTLE_AXIS: 4>
TWIST_AXIS = <AxisType.TWIST_AXIS: 3>
X_AXIS = <AxisType.X_AXIS: 0>
Y_AXIS = <AxisType.Y_AXIS: 1>
Z_AXIS = <AxisType.Z_AXIS: 2>
Joystick.AxisType.name -> str
property value
class ButtonType(value: SupportsInt | SupportsIndex)

Bases: pybind11_object

Represents a digital button on a joystick.

Members:

TRIGGER_BUTTON : kTrigger.

TOP_BUTTON : kTop.

TOP_BUTTON = <ButtonType.TOP_BUTTON: 1>
TRIGGER_BUTTON = <ButtonType.TRIGGER_BUTTON: 0>
Joystick.ButtonType.name -> str
property value
DEFAULT_THROTTLE_CHANNEL = 3
DEFAULT_TWIST_CHANNEL = 2
DEFAULT_X_CHANNEL = 0
DEFAULT_Y_CHANNEL = 1
DEFAULT_Z_CHANNEL = 2
get_direction_degrees() → wpimath.units.degrees
get_direction_radians() → wpimath.units.radians

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.

get_hid() → wpilib._wpilib.GenericHID

Get the underlying GenericHID object.

Returns:

the wrapped GenericHID object

get_magnitude() → float

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

Returns:

The magnitude of the direction vector

get_pov(pov: SupportsInt | SupportsIndex = 0) → wpilib._wpilib.POVDirection

Get the angle in degrees of a POV on the HID.

The POV angles start at 0 in the up direction, and increase clockwise (e.g. right is 90, upper-left is 315).

Parameters:

pov – The index of the POV to read, starting at 0.

Returns:

the angle of the POV

get_raw_axis(axis: SupportsInt | SupportsIndex) → float

Get the value of the axis.

Parameters:

axis – The axis to read, starting at 0.

Returns:

The value of the axis.

get_raw_button(button: SupportsInt | SupportsIndex) → bool

Get the button value (starting at button 1).

The buttons are returned in a single 16 bit value with one bit representing the state of each button. The appropriate button is returned as a boolean value.

Parameters:

button – The button number to be read (starting at 1)

Returns:

The state of the button

get_raw_button_pressed(button: SupportsInt | SupportsIndex) → bool

Whether the button was pressed since the last check. Button indexes begin at 1.

Parameters:

button – The button index, beginning at 1.

Returns:

Whether the button was pressed since the last check.

get_raw_button_released(button: SupportsInt | SupportsIndex) → bool

Whether the button was released since the last check. Button indexes begin at 1.

Parameters:

button – The button index, beginning at 1.

Returns:

Whether the button was released since the last check.

get_throttle() → float

Get the throttle value of the current joystick.

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

get_throttle_channel() → int

Get the channel currently associated with the throttle axis.

Returns:

The channel for the axis.

get_top() → bool

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.

get_top_pressed() → bool

Whether the top button was pressed since the last check.

Returns:

Whether the button was pressed since the last check.

get_top_released() → bool

Whether the top button was released since the last check.

Returns:

Whether the button was released since the last check.

get_trigger() → bool

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.

get_trigger_pressed() → bool

Whether the trigger was pressed since the last check.

Returns:

Whether the button was pressed since the last check.

get_trigger_released() → bool

Whether the trigger was released since the last check.

Returns:

Whether the button was released since the last check.

get_twist() → float

Get the twist value of the current joystick.

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

get_twist_channel() → int

Get the channel currently associated with the twist axis.

Returns:

The channel for the axis.

get_x() → float

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.

get_x_channel() → int

Get the channel currently associated with the X axis.

Returns:

The channel for the axis.

get_y() → float

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.

get_y_channel() → int

Get the channel currently associated with the Y axis.

Returns:

The channel for the axis.

get_z() → float

Get the Z value of the current joystick.

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

get_z_channel() → int

Get the channel currently associated with the Z axis.

Returns:

The channel for the axis.

set_throttle_channel(channel: SupportsInt | SupportsIndex) → None

Set the channel associated with the throttle axis.

Parameters:

channel – The channel to set the axis to.

set_twist_channel(channel: SupportsInt | SupportsIndex) → None

Set the channel associated with the twist axis.

Parameters:

channel – The channel to set the axis to.

set_x_channel(channel: SupportsInt | SupportsIndex) → None

Set the channel associated with the X axis.

Parameters:

channel – The channel to set the axis to.

set_y_channel(channel: SupportsInt | SupportsIndex) → None

Set the channel associated with the Y axis.

Parameters:

channel – The channel to set the axis to.

set_z_channel(channel: SupportsInt | SupportsIndex) → None

Set the channel associated with the Z axis.

Parameters:

channel – The channel to set the axis to.

top(loop: wpilib._wpilib.EventLoop) → wpilib._wpilib.BooleanEvent

Constructs an event instance around the top button’s digital signal.

Parameters:

loop – the event loop instance to attach the event to.

Returns:

an event instance representing the top button’s digital signal attached to the given loop.

trigger(loop: wpilib._wpilib.EventLoop) → wpilib._wpilib.BooleanEvent

Constructs an event instance around the trigger button’s digital signal.

Parameters:

loop – the event loop instance to attach the event to.

Returns:

an event instance representing the trigger button’s digital signal attached to the given loop.