Joystick

class wpilib.Joystick(port: SupportsInt | SupportsIndex)

Bases: 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.

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).

class AxisType(value: SupportsInt | SupportsIndex)

Bases: pybind11_object

Represents an analog axis on a joystick.

Members:

kXAxis : X axis.

kYAxis : Y axis.

kZAxis : Z axis.

kTwistAxis : Twist axis.

kThrottleAxis : Throttle axis.

kThrottleAxis = <AxisType.kThrottleAxis: 4>

kTwistAxis = <AxisType.kTwistAxis: 3>

kXAxis = <AxisType.kXAxis: 0>

kYAxis = <AxisType.kYAxis: 1>

kZAxis = <AxisType.kZAxis: 2>

Joystick.AxisType.name -> str

property value

class ButtonType(value: SupportsInt | SupportsIndex)

Bases: pybind11_object

Represents a digital button on a joystick.

Members:

kTriggerButton : kTrigger.

kTopButton : kTop.

kTopButton = <ButtonType.kTopButton: 1>

kTriggerButton = <ButtonType.kTriggerButton: 0>

Joystick.ButtonType.name -> str

property value

getDirectionDegrees() → wpimath.units.degrees

getDirectionRadians() → 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.

getMagnitude() → 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

getThrottle() → float

Get the throttle value of the current joystick.

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

getThrottleChannel() → int

Get the channel currently associated with the throttle axis.

Returns:: The channel for the axis.

getTop() → 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.

getTopPressed() → bool

Whether the top button was pressed since the last check.

Returns:: Whether the button was pressed since the last check.

getTopReleased() → bool

Whether the top button was released since the last check.

Returns:: Whether the button was released since the last check.

getTrigger() → 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.

getTriggerPressed() → bool

Whether the trigger was pressed since the last check.

Returns:: Whether the button was pressed since the last check.

getTriggerReleased() → bool

Whether the trigger was released since the last check.

Returns:: Whether the button was released since the last check.

getTwist() → float

Get the twist value of the current joystick.

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

getTwistChannel() → int

Get the channel currently associated with the twist axis.

Returns:: The channel for the axis.

getX() → 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.

getXChannel() → int

Get the channel currently associated with the X axis.

Returns:: The channel for the axis.

getY() → 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.

getYChannel() → int

Get the channel currently associated with the Y axis.

Returns:: The channel for the axis.

getZ() → float

Get the Z value of the current joystick.

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

getZChannel() → int

Get the channel currently associated with the Z axis.

Returns:: The channel for the axis.

kDefaultThrottleChannel = 3

kDefaultTwistChannel = 2

kDefaultXChannel = 0

kDefaultYChannel = 1

kDefaultZChannel = 2

setThrottleChannel(channel: SupportsInt | SupportsIndex) → None

Set the channel associated with the throttle axis.

Parameters:: channel – The channel to set the axis to.

setTwistChannel(channel: SupportsInt | SupportsIndex) → None

Set the channel associated with the twist axis.

Parameters:: channel – The channel to set the axis to.

setXChannel(channel: SupportsInt | SupportsIndex) → None

Set the channel associated with the X axis.

Parameters:: channel – The channel to set the axis to.

setYChannel(channel: SupportsInt | SupportsIndex) → None

Set the channel associated with the Y axis.

Parameters:: channel – The channel to set the axis to.

setZChannel(channel: SupportsInt | SupportsIndex) → None

Set the channel associated with the Z axis.

Parameters:: channel – The channel to set the axis to.

top(loop: wpilib.event._event.EventLoop) → wpilib.event._event.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.event._event.EventLoop) → wpilib.event._event.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.