Aria
2.7.5.2
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Interfaces to a joystick. More...
#include <ArJoyHandler.h>
Public Member Functions | |
ArJoyHandler (bool useOSCal=true, bool useOldJoystick=false) | |
Constructor. More... | |
void | endCal (void) |
Ends the calibration process. More... | |
void | getAdjusted (int *x, int *y, int *z=NULL) |
Gets the adjusted reading, as integers, based on the setSpeed. More... | |
double | getAxis (unsigned int axis) |
Gets the floating (-1 to 1) location of the given joystick axis. More... | |
bool | getButton (unsigned int button) |
Gets the button. More... | |
void | getDoubles (double *x, double *y, double *z=NULL) |
Gets the adjusted reading, as floats, between -1.0 and 1.0. More... | |
unsigned int | getNumAxes (void) |
Gets the number of axes the joystick has. More... | |
unsigned int | getNumButtons (void) |
Gets the number of buttons the joystick has. More... | |
void | getSpeeds (int *x, int *y, int *z) |
Gets the speeds that X and Y are set to. | |
void | getStats (int *maxX, int *minX, int *maxY, int *minY, int *cenX, int *cenY) |
Gets the stats for the joystick, useful after calibrating to save values. | |
void | getUnfiltered (int *x, int *y, int *z=NULL) |
bool | getUseOSCal (void) |
Gets whether to just use OS calibration or not. More... | |
bool | haveJoystick (void) |
Returns if the joystick was successfully initialized or not. | |
bool | haveZAxis (void) |
Returns true if we definitely have a Z axis (we don't know in windows unless it moves) | |
bool | init (void) |
Intializes the joystick, returns true if successful. | |
void | setSpeeds (int x, int y, int z=0) |
Sets the max that X or Y will return. | |
void | setStats (int maxX, int minX, int maxY, int minY, int cenX, int cenY) |
Sets the stats for the joystick, useful for restoring calibrated settings. | |
void | setUseOSCal (bool useOSCal) |
Sets whether to just use OS calibration or not. More... | |
void | startCal (void) |
Starts the calibration process. More... | |
~ArJoyHandler () | |
Destructor. | |
Protected Member Functions | |
void | getData (void) |
void | getNewData (void) |
Handles the reading of the data into the bins. | |
void | getOldData (void) |
Protected Attributes | |
std::map< unsigned int, int > | myAxes |
std::map< unsigned int, bool > | myButtons |
int | myCenX |
int | myCenY |
bool | myFirstData |
bool | myHaveZ |
bool | myInitialized |
int | myJoyData |
int | myJoyDesc |
char | myJoyNameTemp [512] |
int | myJoyNumber |
ArTime | myLastDataGathered |
ArTime | myLastOpenTry |
int | myMaxX |
int | myMaxY |
int | myMinX |
int | myMinY |
FILE * | myOldJoyDesc |
int | myPhysMax |
int | myTopX |
int | myTopY |
int | myTopZ |
bool | myUseOld |
bool | myUseOSCal |
Interfaces to a joystick.
The joystick handler keeps track of the minimum and maximums for both axes, updating them to constantly be better calibrated. The speeds set influence what is returned by getAdjusted...
The joystick is not opened until init is called. What should basically be done to use this class is to 'init' a joystick, do a 'setSpeed' so you can use 'getAdusted', then at some point do a 'getButton' to see if a button is pressed, and then do a 'getAdjusted' to get the values to act on.
Also note that x is usually rotational velocity (since it right/left), whereas Y is translational (since it is up/down).
You can also use this to do multiple uses with the joystick, for example to have button 1 drive the robot while to have button 2 move the camera, you can get the different values you want (don't want to move the camera as quickly or as far as the robot) by using setSpeed before doing getAdjusted since setSpeed is fast and won't take any time.
ArJoyHandler::ArJoyHandler | ( | bool | useOSCal = true , |
bool | useOld = false |
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Constructor.
useOSCal | if this is set then the joystick will just rely on the OS to calibrate, otherwise it will keep track of center min and max and use those values for calibration |
useOld | use the old linux interface to the joystick |
void ArJoyHandler::endCal | ( | void | ) |
Ends the calibration process.
Ends the calibration, which also sets the center to where the joystick is when the function is called... the center is never reset except in this function, whereas the min and maxes are constantly checked
void ArJoyHandler::getAdjusted | ( | int * | x, |
int * | y, | ||
int * | z = NULL |
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) |
Gets the adjusted reading, as integers, based on the setSpeed.
if useOSCal is true then this returns the readings as calibrated from the OS. If useOSCal is false this finds the percentage of the distance between center and max (or min) then takes this percentage and multiplies it by the speeds given the class, and returns the values computed from this.
x | pointer to an integer in which to store the x value, which will be within the range [-1 * x given in setSpeeds(), x given in setSpeeds()] |
y | pointer to an integer in which to store the y value, which will be within the range [-1 * y given in setSpeeds(), y given in setSpeeds()] |
z | pointer to an integer in which to store the z value, which will be within the range [-1 * z given in setSpeeds(), z given in setSpeeds()] |
double ArJoyHandler::getAxis | ( | unsigned int | axis) |
Gets the floating (-1 to 1) location of the given joystick axis.
axis | axis to get, should range from 1 through getNumAxes() |
now make sure its in there if (myAxes.find(axis) == myAxes.end()) return 0; return myAxes[axis]/128.0;
bool ArJoyHandler::getButton | ( | unsigned int | button) |
Gets the button.
button | button to test for pressed, within the range 1 through getNumButtons() |
void ArJoyHandler::getDoubles | ( | double * | x, |
double * | y, | ||
double * | z = NULL |
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) |
Gets the adjusted reading, as floats, between -1.0 and 1.0.
If useOSCal is true then this gets normalized values as calibrated by the OS. If useOSCal is false this finds the percentage of the distance between center and max (or min) then takes this percentage and multiplies it by the speeds given the class, and returns the values computed from this.
x | pointer to an integer in which to store the x value. Will be within the range [-1.0, 1.0] |
y | pointer to an integer in which to store the y value. Will be within the range [-1.0, 1.0] |
z | pointer to an integer in which to store the z value. Will be within the range [-1.0, 1.0] |
unsigned int ArJoyHandler::getNumAxes | ( | void | ) |
Gets the number of axes the joystick has.
unsigned int ArJoyHandler::getNumButtons | ( | void | ) |
Gets the number of buttons the joystick has.
void ArJoyHandler::getUnfiltered | ( | int * | x, |
int * | y, | ||
int * | z = NULL |
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) |
Gets the unfilitered reading, mostly for internal use, maybe useful for Calibration
This returns the raw value from the joystick... with X and Y varying between -128 and 128. This data normally shouldn't be used except in calibration since it can give very uncentered or inconsistent readings. For example its not uncommon for a joystick to move 10 to the right but 50 or 100 to the left, so if you aren't adjusting for this you get a robot (or whatever) that goes left really fast, but will hardly go right. Instead you should use getAdjusted() exclusively except for calibration, or informational purposes.
x | pointer to an integer in which to store x value |
y | pointer to an integer in which to store y value |
z | pointer to an integer in which to store z value |
bool ArJoyHandler::getUseOSCal | ( | void | ) |
Gets whether to just use OS calibration or not.
void ArJoyHandler::setUseOSCal | ( | bool | useOSCal) |
Sets whether to just use OS calibration or not.
useOSCal | if this is set then the joystick will just rely on the OS to calibrate, otherwise it will keep track of center min and max and use those values for calibration |
void ArJoyHandler::startCal | ( | void | ) |
Starts the calibration process.
Starts the calibration, which resets all the min and max variables as well as the center variables.