ArJoyHandler Class Reference

Interfaces to a joystick. More...

#include <ArJoyHandler.h>

List of all members.

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

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.

Definition at line 69 of file ArJoyHandler.h.

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

Definition at line 40 of file ArJoyHandler.cpp.

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

Definition at line 99 of file ArJoyHandler.cpp.
References getUnfiltered().
Referenced by init().

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 is between - x given in set speeds and x given in set speeds

y pointer to an integer in which to store the y value, which is between - y given in set speeds and y given in set speeds

Definition at line 151 of file ArJoyHandler.cpp.
References getUnfiltered(), and ArMath::roundInt().

double ArJoyHandler::getAxis ( unsigned int axis )

Gets the floating (-1 to 1) location of the given joystick axis.

Parameters:

axis axis to get the value of axes are 1 through getNumAxes()

Returns:
true if the button is pressed, false otherwise

Definition at line 258 of file ArJoyHandler.cpp.
Referenced by ArActionJoydrive::fire().

bool ArJoyHandler::getButton ( unsigned int button )

Gets the button.

Parameters:

button button to test for pressed, buttons are 1 through getNumButtons()

Returns:
true if the button is pressed, false otherwise

Definition at line 278 of file ArJoyHandler.cpp.
Referenced by ArActionJoydrive::fire().

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 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 a double in which to store the x value, this value is a value between -1.0 and 1.0, for where the stick is on that axis

y pointer to a double in which to store the y value, this value is a value between -1.0 and 1.0, for where the stick is on that axis

Definition at line 201 of file ArJoyHandler.cpp.
References getUnfiltered().
Referenced by ArActionJoydrive::fire().

unsigned int ArJoyHandler::getNumAxes ( void )

Gets the number of axes the joystick has.

Returns:
the number of axes (1 through this number)

Definition at line 296 of file ArJoyHandler.cpp.

unsigned int ArJoyHandler::getNumButtons ( void )

Gets the number of buttons the joystick has.

Returns:
the number of buttons (1 through this number)

Definition at line 305 of file ArJoyHandler.cpp.

void ArJoyHandler::getUnfiltered ( int * x,

int * y,

int * z = NULL

)

Gets the unfilitered reading, mostly for internal use, maybe useful for Calibration
Definition at line 243 of file ArJoyHandler.cpp.
Referenced by endCal(), getAdjusted(), getDoubles(), and startCal().

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

Definition at line 71 of file ArJoyHandler.cpp.

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

Definition at line 60 of file ArJoyHandler.cpp.
Referenced by ArActionJoydrive::fire(), ArRatioInputJoydrive::setUseOSCal(), and ArActionJoydrive::setUseOSCal().

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

Definition at line 80 of file ArJoyHandler.cpp.
References getUnfiltered().
Referenced by init().

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

Generated on Wed Oct 19 12:56:49 2005 for Aria by

1.4.0


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