ArJoyHandler Class Reference

#include <ArJoyHandler.h>

List of all members.

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Detailed Description

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.

Examples:

gpsRobotTaskExample.cpp, joydriveActionExample.cpp, and sonyPTZDemo.cpp.

Public Member Functions
	ArJoyHandler (bool useOSCal=true, bool useOldJoystick=false)
	Constructor.
void	endCal (void)
	Ends the calibration process.
void	getAdjusted (int *x, int *y, int *z=NULL)
	Gets the adjusted reading, as integers, based on the setSpeed.
double	getAxis (unsigned int axis)
	Gets the floating (-1 to 1) location of the given joystick axis.
bool	getButton (unsigned int button)
	Gets the button.
void	getDoubles (double *x, double *y, double *z=NULL)
	Gets the adjusted reading, as floats, between -1.0 and 1.0.
unsigned int	getNumAxes (void)
	Gets the number of axes the joystick has.
unsigned int	getNumButtons (void)
	Gets the number of buttons the joystick has.
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.
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.
void	startCal (void)
	Starts the calibration process.
	~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

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Constructor & Destructor Documentation

ArJoyHandler::ArJoyHandler (  bool  useOSCal = true, bool  useOld = false )

Constructor. Parameters: 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

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Member Function Documentation

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 See also: startCal

void ArJoyHandler::getAdjusted (  int *  x, int *  y, int *  z = NULL )

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. Parameters: 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. Parameters: 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. Parameters: button  button to test for pressed, within the range 1 through getNumButtons() Returns: true if the button is pressed, false otherwise

void ArJoyHandler::getDoubles (  double *  x, double *  y, double *  z = NULL )

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. Parameters: 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. Returns: the number of axes (axes are indexed as 1 through this number)

unsigned int ArJoyHandler::getNumButtons (  void   )

Gets the number of buttons the joystick has. Returns: the number of buttons (buttons are indexed as 1 through this number)

void ArJoyHandler::getUnfiltered (  int *  x, int *  y, int *  z = NULL )

Gets the unfilitered reading, mostly for internal use, maybe useful for Calibration

bool ArJoyHandler::getUseOSCal (  void   )

Gets whether to just use OS calibration or not. Returns: if useOSCal 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::setUseOSCal (  bool  useOSCal  )

Sets whether to just use OS calibration or not. Parameters: 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. See also: endCal

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The documentation for this class was generated from the following files:

• ArJoyHandler.h
• ArJoyHandler.cpp
• ArJoyHandler_LIN.cpp
• ArJoyHandler_WIN.cpp

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