Joystick (wpilibJavaFinal 0.1.0-SNAPSHOT API)

java.lang.Object
- edu.wpi.first.wpilibj.GenericHID
- - edu.wpi.first.wpilibj.Joystick

```
public class Joystick
extends 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.

Nested Class Summary

Nested Classes
Modifier and Type	Class and Description
`static class`	`Joystick.AxisType` Represents an analog axis on a joystick.
`static class`	`Joystick.ButtonType` Represents a digital button on the JoyStick
`static class`	`Joystick.RumbleType` Represents a rumble output on the JoyStick

Nested classes/interfaces inherited from class edu.wpi.first.wpilibj.GenericHID
GenericHID.Hand

Constructor Summary

Constructors
Modifier	Constructor and Description
	`Joystick(int port)` Construct an instance of a joystick.
`protected`	`Joystick(int port, int numAxisTypes, int numButtonTypes)` Protected version of the constructor to be called by sub-classes.

Method Summary

All Methods Instance Methods Concrete Methods
Modifier and Type	Method and Description
`double`	`getAxis(Joystick.AxisType axis)` For the current joystick, return the axis determined by the argument.
`int`	`getAxisChannel(Joystick.AxisType axis)` Get the channel currently associated with the specified axis.
`int`	`getAxisCount()` For the current joystick, return the number of axis
`boolean`	`getBumper(GenericHID.Hand hand)` This is not supported for the Joystick.
`boolean`	`getButton(Joystick.ButtonType button)` Get buttons based on an enumerated type.
`int`	`getButtonCount()` For the current joystick, return the number of buttons
`double`	`getDirectionDegrees()` Get the direction of the vector formed by the joystick and its origin in degrees uses acos(-1) to represent Pi due to absence of readily accessable Pi constant in C++
`double`	`getDirectionRadians()` Get the direction of the vector formed by the joystick and its origin in radians
`double`	`getMagnitude()` Get the magnitude of the direction vector formed by the joystick's current position relative to its origin
`int`	`getPOV(int pov)` Get the state of a POV on the joystick.
`int`	`getPOVCount()` For the current joystick, return the number of POVs
`double`	`getRawAxis(int axis)` Get the value of the axis.
`boolean`	`getRawButton(int button)` Get the button value (starting at button 1) The appropriate button is returned as a boolean value.
`double`	`getThrottle()` Get the throttle value of the current joystick.
`boolean`	`getTop(GenericHID.Hand hand)` Read the state of the top button on the joystick.
`boolean`	`getTrigger(GenericHID.Hand hand)` Read the state of the trigger on the joystick.
`double`	`getTwist()` Get the twist value of the current joystick.
`double`	`getX(GenericHID.Hand hand)` Get the X value of the joystick.
`double`	`getY(GenericHID.Hand hand)` Get the Y value of the joystick.
`double`	`getZ(GenericHID.Hand hand)` Get the Z value of the joystick.
`void`	`setAxisChannel(Joystick.AxisType axis, int channel)` Set the channel associated with a specified axis.
`void`	`setOutput(int outputNumber, boolean value)` Set a single HID output value for the joystick.
`void`	`setOutputs(int value)` Set all HID output values for the joystick.
`void`	`setRumble(Joystick.RumbleType type, float value)` Set the rumble output for the joystick.

Methods inherited from class edu.wpi.first.wpilibj.GenericHID
getBumper, getPOV, getTop, getTrigger, getX, getY, getZ

Methods inherited from class java.lang.Object
clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

- Constructor Detail
  - Joystick
```
public Joystick(int port)
```
    Construct an instance of a joystick. The joystick index is the usb port on the drivers station.
    
    Parameters:
    
    port - The port on the driver station that the joystick is plugged into.
  - Joystick
```
protected Joystick(int port,
                   int numAxisTypes,
                   int numButtonTypes)
```
    Protected version of the constructor to be called by sub-classes. This constructor allows the subclass to configure the number of constants for axes and buttons.
    
    Parameters:
    
    port - The port on the driver station that the joystick is plugged into.
    
    numAxisTypes - The number of axis types in the enum.
    
    numButtonTypes - The number of button types in the enum.
- Method Detail
  - getX
```
public double getX(GenericHID.Hand hand)
```
    Get the X value of the joystick. This depends on the mapping of the joystick connected to the current port.
    
    Specified by:
    
    getX in class GenericHID
    
    Parameters:
    
    hand - Unused
    
    Returns:
    
    The X value of the joystick.
  - getY
```
public double getY(GenericHID.Hand hand)
```
    Get the Y value of the joystick. This depends on the mapping of the joystick connected to the current port.
    
    Specified by:
    
    getY in class GenericHID
    
    Parameters:
    
    hand - Unused
    
    Returns:
    
    The Y value of the joystick.
  - getZ
```
public double getZ(GenericHID.Hand hand)
```
    Get the Z value of the joystick. This depends on the mapping of the joystick connected to the current port.
    
    Specified by:
    
    getZ in class GenericHID
    
    Parameters:
    
    hand - Unused
    
    Returns:
    
    The Z value of the joystick.
  - 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.
    
    Specified by:
    
    getTwist in class GenericHID
    
    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.
    
    Specified by:
    
    getThrottle in class GenericHID
    
    Returns:
    
    The Throttle value of the joystick.
  - getRawAxis
```
public double getRawAxis(int axis)
```
    Get the value of the axis.
    
    Specified by:
    
    getRawAxis in class GenericHID
    
    Parameters:
    
    axis - The axis to read, starting at 0.
    
    Returns:
    
    The value of the axis.
  - getAxis
```
public double getAxis(Joystick.AxisType axis)
```
    For the current joystick, return the axis determined by the argument. This is for cases where the joystick axis is returned programatically, otherwise one of the previous functions would be preferable (for example getX()).
    
    Parameters:
    
    axis - The axis to read.
    
    Returns:
    
    The value of the axis.
  - getAxisCount
```
public int getAxisCount()
```
    For the current joystick, return the number of axis
  - getTrigger
```
public boolean getTrigger(GenericHID.Hand hand)
```
    Read the state of the trigger on the joystick. Look up which button has been assigned to the trigger and read its state.
    
    Specified by:
    
    getTrigger in class GenericHID
    
    Parameters:
    
    hand - This parameter is ignored for the Joystick class and is only here to complete the GenericHID interface.
    
    Returns:
    
    The state of the trigger.
  - getTop
```
public boolean getTop(GenericHID.Hand hand)
```
    Read the state of the top button on the joystick. Look up which button has been assigned to the top and read its state.
    
    Specified by:
    
    getTop in class GenericHID
    
    Parameters:
    
    hand - This parameter is ignored for the Joystick class and is only here to complete the GenericHID interface.
    
    Returns:
    
    The state of the top button.
  - getBumper
```
public boolean getBumper(GenericHID.Hand hand)
```
    This is not supported for the Joystick. This method is only here to complete the GenericHID interface.
    
    Specified by:
    
    getBumper in class GenericHID
    
    Parameters:
    
    hand - This parameter is ignored for the Joystick class and is only here to complete the GenericHID interface.
    
    Returns:
    
    The state of the bumper (always false)
  - getRawButton
```
public boolean getRawButton(int button)
```
    Get the button value (starting at button 1) The appropriate button is returned as a boolean value.
    
    Specified by:
    
    getRawButton in class GenericHID
    
    Parameters:
    
    button - The button number to be read (starting at 1).
    
    Returns:
    
    The state of the button.
  - getButtonCount
```
public int getButtonCount()
```
    For the current joystick, return the number of buttons
  - getPOV
```
public int getPOV(int pov)
```
    Get the state of a POV on the joystick.
    
    Specified by:
    
    getPOV in class GenericHID
    
    Parameters:
    
    pov - The index of the POV to read (starting at 0)
    
    Returns:
    
    the angle of the POV in degrees, or -1 if the POV is not pressed.
  - getPOVCount
```
public int getPOVCount()
```
    For the current joystick, return the number of POVs
  - getButton
```
public boolean getButton(Joystick.ButtonType button)
```
    Get buttons based on an enumerated type. The button type will be looked up in the list of buttons and then read.
    
    Parameters:
    
    button - The type of button to read.
    
    Returns:
    
    The state of the button.
  - getMagnitude
```
public double getMagnitude()
```
    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
  - getDirectionRadians
```
public double getDirectionRadians()
```
    Get the direction of the vector formed by the joystick and its origin in radians
    
    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 uses acos(-1) to represent Pi due to absence of readily accessable Pi constant in C++
    
    Returns:
    
    The direction of the vector in degrees
  - getAxisChannel
```
public int getAxisChannel(Joystick.AxisType axis)
```
    Get the channel currently associated with the specified axis.
    
    Parameters:
    
    axis - The axis to look up the channel for.
    
    Returns:
    
    The channel fr the axis.
  - setAxisChannel
```
public void setAxisChannel(Joystick.AxisType axis,
                           int channel)
```
    Set the channel associated with a specified axis.
    
    Parameters:
    
    axis - The axis to set the channel for.
    
    channel - The channel to set the axis to.
  - setRumble
```
public void setRumble(Joystick.RumbleType type,
                      float value)
```
    Set the rumble output for the joystick. The DS currently supports 2 rumble values, left rumble and right rumble
    
    Parameters:
    
    type - Which rumble value to set
    
    value - The normalized value (0 to 1) to set the rumble to
  - setOutput
```
public void setOutput(int outputNumber,
                      boolean value)
```
    Set a single HID output value for the joystick.
    
    Parameters:
    
    outputNumber - The index of the output to set (1-32)
    
    value - The value to set the output to
  - setOutputs
```
public void setOutputs(int value)
```
    Set all HID output values for the joystick.
    
    Parameters:
    
    value - The 32 bit output value (1 bit for each output)

Class Joystick

Nested Class Summary

Nested classes/interfaces inherited from class edu.wpi.first.wpilibj.GenericHID

Constructor Summary

Method Summary

Methods inherited from class edu.wpi.first.wpilibj.GenericHID

Methods inherited from class java.lang.Object

Constructor Detail

Joystick

Joystick

Method Detail

getX

getY

getZ

getTwist

getThrottle

getRawAxis

getAxis

getAxisCount

getTrigger

getTop

getBumper

getRawButton

getButtonCount

getPOV

getPOVCount

getButton

getMagnitude

getDirectionRadians

getDirectionDegrees

getAxisChannel

setAxisChannel

setRumble

setOutput

setOutputs