Class CommandJoystick

java.lang.Object
org.wpilib.command3.button.CommandJoystick
public class CommandJoystick extends Object
A version of Joystick with Trigger factories for command-based.
See Also:

  • Constructor Summary

    Constructors
    Constructor
    Description
    CommandJoystick(int port)
    Construct an instance of a controller.
    CommandJoystick(Scheduler scheduler, int port)
    Construct an instance of a controller.

  • Method Summary

    Modifier and Type
    Method
    Description
    double
    getDirectionDegrees()
    Get the direction of the vector formed by the joystick and its origin in degrees.
    double
    getDirectionRadians()
    Get the direction of the vector formed by the joystick and its origin in radians.
    CommandGenericHID
    getHID()
    Get the underlying CommandGenericHID object.
    Joystick
    getJoystick()
    Get the underlying Joystick object.
    double
    getMagnitude()
    Get the magnitude of the vector formed by the joystick's current position relative to its origin.
    double
    getThrottle()
    Get the throttle value of the current joystick.
    int
    getThrottleChannel()
    Get the channel currently associated with the throttle axis.
    double
    getTwist()
    Get the twist value of the current joystick.
    int
    getTwistChannel()
    Get the channel currently associated with the twist axis.
    double
    getX()
    Get the x position of the HID.
    int
    getXChannel()
    Get the channel currently associated with the X axis.
    double
    getY()
    Get the y position of the HID.
    int
    getYChannel()
    Get the channel currently associated with the Y axis.
    double
    getZ()
    Get the z position of the HID.
    int
    getZChannel()
    Get the channel currently associated with the Z axis.
    void
    setThrottleChannel(int channel)
    Set the channel associated with the throttle axis.
    void
    setTwistChannel(int channel)
    Set the channel associated with the twist axis.
    void
    setXChannel(int channel)
    Set the channel associated with the X axis.
    void
    setYChannel(int channel)
    Set the channel associated with the Y axis.
    void
    setZChannel(int channel)
    Set the channel associated with the Z axis.
    Trigger
    top()
    Constructs an event instance around the top button's digital signal.
    Trigger
    top(EventLoop loop)
    Constructs an event instance around the top button's digital signal.
    Trigger
    trigger()
    Constructs an event instance around the trigger button's digital signal.
    Trigger
    trigger(EventLoop loop)
    Constructs an event instance around the trigger button's digital signal.

    Methods inherited from class Object

    clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

  • Constructor Details

    • CommandJoystick

      public CommandJoystick(int port)
      Construct an instance of a controller.
      Parameters:
      port - The port index on the Driver Station that the controller is plugged into.

    • CommandJoystick

      public CommandJoystick(Scheduler scheduler, int port)
      Construct an instance of a controller.
      Parameters:
      scheduler - The scheduler that should execute the triggered commands.
      port - The port index on the Driver Station that the controller is plugged into.

  • Method Details

    • getHID

      public CommandGenericHID getHID()
      Get the underlying CommandGenericHID object.
      Returns:
      the wrapped CommandGenericHID object

    • getJoystick

      public Joystick getJoystick()
      Get the underlying Joystick object.
      Returns:
      the wrapped Joystick object

    • trigger

      public Trigger trigger()
      Constructs an event instance around the trigger button's digital signal.
      Returns:
      an event instance representing the trigger button's digital signal attached to the default scheduler button loop.
      See Also:

    • trigger

      public Trigger trigger(EventLoop loop)
      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.

    • top

      public Trigger top()
      Constructs an event instance around the top button's digital signal.
      Returns:
      an event instance representing the top button's digital signal attached to the default scheduler button loop.
      See Also:

    • top

      public Trigger top(EventLoop loop)
      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.

    • setXChannel

      public void setXChannel(int channel)
      Set the channel associated with the X axis.
      Parameters:
      channel - The channel to set the axis to.

    • setYChannel

      public void setYChannel(int channel)
      Set the channel associated with the Y axis.
      Parameters:
      channel - The channel to set the axis to.

    • setZChannel

      public void setZChannel(int channel)
      Set the channel associated with the Z axis.
      Parameters:
      channel - The channel to set the axis to.

    • setThrottleChannel

      public void setThrottleChannel(int channel)
      Set the channel associated with the throttle axis.
      Parameters:
      channel - The channel to set the axis to.

    • setTwistChannel

      public void setTwistChannel(int channel)
      Set the channel associated with the twist axis.
      Parameters:
      channel - The channel to set the axis to.

    • getXChannel

      public int getXChannel()
      Get the channel currently associated with the X axis.
      Returns:
      The channel for the axis.

    • getYChannel

      public int getYChannel()
      Get the channel currently associated with the Y axis.
      Returns:
      The channel for the axis.

    • getZChannel

      public int getZChannel()
      Get the channel currently associated with the Z axis.
      Returns:
      The channel for the axis.

    • getTwistChannel

      public int getTwistChannel()
      Get the channel currently associated with the twist axis.
      Returns:
      The channel for the axis.

    • getThrottleChannel

      public int getThrottleChannel()
      Get the channel currently associated with the throttle axis.
      Returns:
      The channel for the axis.

    • getX

      public double getX()
      Get the x position of the HID.

      This depends on the mapping of the joystick connected to the current port. On most joysticks, positive is to the right.

      Returns:
      the x position

    • getY

      public double getY()
      Get the y position of the HID.

      This depends on the mapping of the joystick connected to the current port. On most joysticks, positive is to the back.

      Returns:
      the y position

    • getZ

      public double getZ()
      Get the z position of the HID.
      Returns:
      the z position

    • getTwist

      public double getTwist()
      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.

    • getThrottle

      public double getThrottle()
      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.

    • getMagnitude

      public double getMagnitude()
      Get the magnitude of the vector formed by the joystick's current position relative to its origin.
      Returns:
      The magnitude of the direction vector

    • getDirectionRadians

      public double getDirectionRadians()
      Get the direction of the vector formed by the joystick and its origin in radians. 0 is forward and clockwise is positive. (Straight right is π/2.)
      Returns:
      The direction of the vector in radians

    • getDirectionDegrees

      public double getDirectionDegrees()
      Get the direction of the vector formed by the joystick and its origin in degrees. 0 is forward and clockwise is positive. (Straight right is 90.)
      Returns:
      The direction of the vector in degrees