Joystick¶
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class
wpilib.
Joystick
(port)[source]¶ Bases:
wpilib.interfaces.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.
This constructor is intended for use by subclasses to configure the number of constants for axes and buttons.
Parameters: - port (int) – The port on the Driver Station that the joystick is plugged into.
- numAxisTypes (int) – The number of axis types.
- numButtonTypes (int) – The number of button types.
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class
Axis
[source]¶ Bases:
object
Represents an analog axis on a joystick
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kNumAxis
= 5¶
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kThrottle
= 4¶
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kTwist
= 3¶
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kX
= 0¶
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kY
= 1¶
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kZ
= 2¶
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class
AxisType
[source]¶ Bases:
object
Represents an analog axis on a joystick.
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kThrottle
= 4¶
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kTwist
= 3¶
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kX
= 0¶
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kY
= 1¶
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kZ
= 2¶
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class
Button
[source]¶ Bases:
object
Represents a digital button on the Joystick
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kTop
= 2¶
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kTrigger
= 1¶
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class
ButtonType
[source]¶ Bases:
object
Represents a digital button on the Joystick
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kTop
= 2¶
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kTrigger
= 1¶
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getAxis
(axis)[source]¶ 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 ( Joystick.AxisType
) – The axis to read.Returns: The value of the axis. Return type: float - ..deprecated: 2018.0.0
- Use the more specific axis getter functions.
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getAxisChannel
(axis)[source]¶ Get the channel currently associated with the specified axis.
Parameters: axis (int) – The axis to look up the channel for. Returns: The channel for the axis. Return type: int - ..deprecated:: 2018.0.0
- Use the more specific axis channel getter functions
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getButton
(button)[source]¶ Get buttons based on an enumerated type.
The button type will be looked up in the list of buttons and then read.
Parameters: button ( Joystick.ButtonType
) – The type of button to read.Returns: The state of the button. Return type: bool - ..deprecated: 2018.0.0
- Use Button enum values instead of ButtonType
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getDirectionDegrees
()[source]¶ Get the direction of the vector formed by the joystick and its origin in degrees.
Returns: The direction of the vector in degrees Return type: float
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getDirectionRadians
()[source]¶ Get the direction of the vector formed by the joystick and its origin in radians.
Returns: The direction of the vector in radians Return type: float
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getMagnitude
()[source]¶ 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 Return type: float
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getThrottle
()[source]¶ 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. Return type: float
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getThrottleChannel
()[source]¶ Get the channel currently associated with the Throttle axis
Returns: The channel for the axis Return type: int
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getTop
()[source]¶ 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. Return type: bool
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getTopPressed
()[source]¶ Whether the trigger was pressed since the last check
Returns: Whether the button was pressed since the last check
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getTopReleased
()[source]¶ Whether the trigger was released since the last check.
Returns: Whether the button was released since the last check.
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getTrigger
()[source]¶ 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. Return type: bool
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getTriggerPressed
()[source]¶ Whether the trigger was pressed since the last check
Returns: Whether the button was pressed since the last check
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getTriggerReleased
()[source]¶ Whether the trigger was released since the last check.
Returns: Whether the button was released since the last check.
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getTwist
()[source]¶ 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. Return type: float
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getTwistChannel
()[source]¶ Get the channel currently associated with the Twist axis
Returns: The channel for the axis Return type: int
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getX
(hand=None)[source]¶ Get the X value of the joystick.
This depends on the mapping of the joystick connected to the current port.
Parameters: hand – Unused Returns: The X value of the joystick. Return type: float
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getXChannel
()[source]¶ Get the channel currently associated with the X axis
Returns: The channel for the axis Return type: int
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getY
(hand=None)[source]¶ Get the Y value of the joystick.
This depends on the mapping of the joystick connected to the current port.
Parameters: hand – Unused Returns: The Y value of the joystick. Return type: float
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getYChannel
()[source]¶ Get the channel currently associated with the Y axis
Returns: The channel for the axis Return type: int
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getZ
(hand=None)[source]¶ Get the Z position of the HID
Parameters: hand – Unused Returns: the Z position Return type: float
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getZChannel
()[source]¶ Get the channel currently associated with the Z axis
Returns: The channel for the axis Return type: int
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kDefaultThrottleAxis
= 3¶
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kDefaultTopButton
= 2¶
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kDefaultTriggerButton
= 1¶
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kDefaultTwistAxis
= 2¶
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kDefaultXAxis
= 0¶
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kDefaultYAxis
= 1¶
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kDefaultZAxis
= 2¶
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setAxisChannel
(axis, channel)[source]¶ Set the channel associated with a specified axis.
Parameters: - axis (int) – The axis to set the channel for.
- channel (int) – The channel to set the axis to.
Deprecated since version 2018.0.0: Use the more specific axis channel setter functions
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setThrottleChannel
(channel)[source]¶ Set the channel associated with the Throttle axis.
Parameters: channel (int) – The channel to set the axis to.
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setTwistChannel
(channel)[source]¶ Set the channel associated with the Twist axis.
Parameters: channel (int) – The channel to set the axis to. Return type: int
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setXChannel
(channel)[source]¶ Set the channel associated with the X axis.
Parameters: channel (int) – The channel to set the axis to.