Joystick

java.lang.Object
- io.github.thunderbots.lightning.control.Joystick

```
public class Joystick
extends java.lang.Object
```
A Joystick object represents one of the physical game controllers that are connected to the driver station.
Due to a currently existant problem in the way that the control system handles the controllers, a new joystick object is contructed every hardware cycle. References to joysticks should not be kept for any reason. Instead, all joysticks should be accessed through Lightning.getJoystick(int)

Author:

Zach Ohara

Field Summary

Fields
Modifier and Type	Field and Description
`private com.qualcomm.robotcore.hardware.Gamepad`	`baseGamepad` The `Gamepad` that this object should receive information from.
`static double`	`JOYSTICK_PRESS_THRESHOLD` The threshold that is used to determine if a joystick is sufficiently 'fully' pressed.
`static double`	`THUMBSTICK_MAX` The maximum value that can be expected from the thumb stick values.
`static double`	`THUMBSTICK_MIN` The minimum value that can be expected from the thumb stick values.
`static double`	`THUMBSTICK_REST` The value that should be expected from the thumb sticks when the thumb stick is at rest.
`static double`	`THUMBSTICK_THRESHOLD` The threshold that must be exceeded by the raw thumb stick values before it should register at all.
`static double`	`TRIGGER_MAX` The maximum value that can be expected from the trigger values.
`static double`	`TRIGGER_MIN` The minimum value that can be expected from the trigger values.
`static double`	`TRIGGER_PRESS_THRESHOLD` The threshold that is used to determine if a trigger is sufficiently 'fully' pressed.

Constructor Summary

Constructors
Constructor and Description

Joystick(com.qualcomm.robotcore.hardware.Gamepad baseGamepad)
Constructs a new Joystick with the given Gamepad as a base.

Constructors
Constructor and Description
`Joystick(com.qualcomm.robotcore.hardware.Gamepad baseGamepad)` Constructs a new `Joystick` with the given `Gamepad` as a base.

Method Summary

All Methods Static Methods Instance Methods Concrete Methods
Modifier and Type	Method and Description
`boolean`	`aButton()` Returns `true` if the A-button on the joystick is currently being pressed.
`boolean`	`bButton()` Returns `true` if the B-button on the joystick is currently being pressed.
`boolean`	`downButton()` Returns `true` if down-direction button on the joystick is currently being pressed.
`boolean`	`leftBumper()` Returns `true` if the left bumper on the joystick is currently being pressed.
`boolean`	`leftButton()` Returns `true` if the left-direction button on the joystick is currently being pressed.
`boolean`	`leftStickButton()` Returns `true` if the left-stick button on the joystick is currently being pressed.
`boolean`	`leftStickNegativeX()` Returns `true` if the x-position of the left stick is below a set threshold, or `false` otherwise.
`boolean`	`leftStickNegativeY()` Returns `true` if the y-position of the left stick is below a set threshold, or `false` otherwise.
`boolean`	`leftStickPositiveX()` Returns `true` if the x-position of the left stick is above a set threshold, or `false` otherwise.
`boolean`	`leftStickPositiveY()` Returns `true` if the y-position of the left stick is above a set threshold, or `false` otherwise.
`double`	`leftStickX()` Returns the current x-position of the left thumb stick.
`double`	`leftStickY()` Returns the current y-position of the left thumb stick.
`double`	`leftTrigger()` Returns the current position of the left trigger on the joystick.
`boolean`	`leftTriggerPressed()` Returns `true` if the left trigger value is above the set threshold, or `false` otherwise.
`boolean`	`rightBumper()` Returns `true` if the right bumper on the joystick is currently being pressed.
`boolean`	`rightButton()` Returns `true` if the right-direction button on the joystick is currently being pressed.
`boolean`	`rightStickButton()` Returns `true` if the right-stick button on the joystick is currently being pressed.
`boolean`	`rightStickNegativeX()` Returns `true` if the x-position of the right stick is below a set threshold, or `false` otherwise.
`boolean`	`rightStickNegativeY()` Returns `true` if the y-position of the right stick is below a set threshold, or `false` otherwise.
`boolean`	`rightStickPositiveX()` Returns `true` if the x-position of the right stick is above a set threshold, or `false` otherwise.
`boolean`	`rightStickPositiveY()` Returns `true` if the y-position of the right stick is above a set threshold, or `false` otherwise.
`double`	`rightStickX()` Returns the current x-position of the right thumb stick.
`double`	`rightStickY()` Returns the current y-position of the right thumb stick.
`double`	`rightTrigger()` Returns the current position of the right trigger on the joystick.
`boolean`	`rightTriggerPressed()` Returns `true` if the right trigger value is above the set threshold, or `false` otherwise.
`private static double`	`scaleJoystickInput(double raw)` Scales the given input value to a number between the rest position and the maximum position of the thumb stick, based on its relative position between the minimum and maximum positions.
`java.util.List<JoystickButton>`	`toButtonList()` Generates a list of `JoystickButton`s that represent all the buttons that are currently pressed on this joystick.
`boolean`	`upButton()` Returns `true` if the up-direction button on the joystick is currently being pressed.
`boolean`	`xButton()` Returns `true` if the X-button on the joystick is currently being pressed.
`boolean`	`yButton()` Returns `true` if the Y-button on the joystick is currently being pressed.

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

- Field Detail
  - baseGamepad
```
private com.qualcomm.robotcore.hardware.Gamepad baseGamepad
```
    The Gamepad that this object should receive information from.
    
    See Also:
    
    Gamepad
  - THUMBSTICK_THRESHOLD
```
public static final double THUMBSTICK_THRESHOLD
```
    The threshold that must be exceeded by the raw thumb stick values before it should register at all. The purpose of this value is to prevent random noise and false movements from being registered and acted upon.
    
    See Also:
    
    Constant Field Values
  - THUMBSTICK_MAX
```
public static final double THUMBSTICK_MAX
```
    The maximum value that can be expected from the thumb stick values.
    
    See Also:
    
    Constant Field Values
  - THUMBSTICK_REST
```
public static final double THUMBSTICK_REST
```
    The value that should be expected from the thumb sticks when the thumb stick is at rest.
    
    See Also:
    
    Constant Field Values
  - THUMBSTICK_MIN
```
public static final double THUMBSTICK_MIN
```
    The minimum value that can be expected from the thumb stick values.
    
    See Also:
    
    Constant Field Values
  - TRIGGER_MAX
```
public static final double TRIGGER_MAX
```
    The maximum value that can be expected from the trigger values.
    
    See Also:
    
    Constant Field Values
  - TRIGGER_MIN
```
public static final double TRIGGER_MIN
```
    The minimum value that can be expected from the trigger values.
    
    See Also:
    
    Constant Field Values
  - JOYSTICK_PRESS_THRESHOLD
```
public static final double JOYSTICK_PRESS_THRESHOLD
```
    The threshold that is used to determine if a joystick is sufficiently 'fully' pressed.
    
    See Also:
    
    Constant Field Values
  - TRIGGER_PRESS_THRESHOLD
```
public static final double TRIGGER_PRESS_THRESHOLD
```
    The threshold that is used to determine if a trigger is sufficiently 'fully' pressed.
    
    See Also:
    
    Constant Field Values
- Constructor Detail
  - Joystick
```
public Joystick(com.qualcomm.robotcore.hardware.Gamepad baseGamepad)
```
    Constructs a new Joystick with the given Gamepad as a base.
    
    Parameters:
    
    baseGamepad - the base Gamepad
- Method Detail
  - scaleJoystickInput
```
private static double scaleJoystickInput(double raw)
```
    Scales the given input value to a number between the rest position and the maximum position of the thumb stick, based on its relative position between the minimum and maximum positions. This allows the thumb sticks to show a smooth transition between the minimum and the maximum, even though any value less than the threshold will be reported as zero.
    This method acts as a delegate to MathUtil.scaleToRange(), but supplies the thumbstick constants as the range bounds.
    
    Parameters:
    
    raw - the raw input value from the joystick, between the threshold and maximum positions.
    
    Returns:
    
    the corresponding value between the minimum and maximum positions.
    
    See Also:
    
    MathUtil.scaleToRange(double, double[], double[])
  - aButton
```
public boolean aButton()
```
    Returns true if the A-button on the joystick is currently being pressed.
    
    Returns:
    
    whether the A-button is being pressed.
  - bButton
```
public boolean bButton()
```
    Returns true if the B-button on the joystick is currently being pressed.
    
    Returns:
    
    whether the B-button is being pressed.
  - xButton
```
public boolean xButton()
```
    Returns true if the X-button on the joystick is currently being pressed.
    
    Returns:
    
    whether the X-button is being pressed.
  - yButton
```
public boolean yButton()
```
    Returns true if the Y-button on the joystick is currently being pressed.
    
    Returns:
    
    whether the Y-button is being pressed.
  - upButton
```
public boolean upButton()
```
    Returns true if the up-direction button on the joystick is currently being pressed.
    
    Returns:
    
    whether the up-direction is being pressed.
  - downButton
```
public boolean downButton()
```
    Returns true if down-direction button on the joystick is currently being pressed.
    
    Returns:
    
    whether the down-direction is being pressed.
  - leftButton
```
public boolean leftButton()
```
    Returns true if the left-direction button on the joystick is currently being pressed.
    
    Returns:
    
    whether the left-direction is being pressed.
  - rightButton
```
public boolean rightButton()
```
    Returns true if the right-direction button on the joystick is currently being pressed.
    
    Returns:
    
    whether the right-direction is being pressed.
  - leftBumper
```
public boolean leftBumper()
```
    Returns true if the left bumper on the joystick is currently being pressed.
    
    Returns:
    
    whether the left bumper is being pressed.
  - rightBumper
```
public boolean rightBumper()
```
    Returns true if the right bumper on the joystick is currently being pressed.
    
    Returns:
    
    whether the right bumper is being pressed.
  - leftStickButton
```
public boolean leftStickButton()
```
    Returns true if the left-stick button on the joystick is currently being pressed.
    
    Returns:
    
    whether the left-stick button is being pressed.
  - rightStickButton
```
public boolean rightStickButton()
```
    Returns true if the right-stick button on the joystick is currently being pressed.
    
    Returns:
    
    whether the right-stick button is being pressed.
  - leftTrigger
```
public double leftTrigger()
```
    Returns the current position of the left trigger on the joystick.
    
    Returns:
    
    the current position of the left trigger.
  - leftTriggerPressed
```
public boolean leftTriggerPressed()
```
    Returns true if the left trigger value is above the set threshold, or false otherwise.
    
    Returns:
    
    true if the left trigger value is above the set threshold.
    
    See Also:
    
    TRIGGER_PRESS_THRESHOLD
  - rightTrigger
```
public double rightTrigger()
```
    Returns the current position of the right trigger on the joystick.
    
    Returns:
    
    the current position of the right trigger.
  - rightTriggerPressed
```
public boolean rightTriggerPressed()
```
    Returns true if the right trigger value is above the set threshold, or false otherwise.
    
    Returns:
    
    true if the right trigger value is above the set threshold.
    
    See Also:
    
    TRIGGER_PRESS_THRESHOLD
  - leftStickX
```
public double leftStickX()
```
    Returns the current x-position of the left thumb stick.
    
    Returns:
    
    the current x-position of the left thumb stick.
  - leftStickNegativeX
```
public boolean leftStickNegativeX()
```
    Returns true if the x-position of the left stick is below a set threshold, or false otherwise.
    
    Returns:
    
    true if the x-position of the left stick is below a set threshold.
    
    See Also:
    
    JOYSTICK_PRESS_THRESHOLD
  - leftStickPositiveX
```
public boolean leftStickPositiveX()
```
    Returns true if the x-position of the left stick is above a set threshold, or false otherwise.
    
    Returns:
    
    true if the x-position of the left stick is above a set threshold.
    
    See Also:
    
    JOYSTICK_PRESS_THRESHOLD
  - leftStickY
```
public double leftStickY()
```
    Returns the current y-position of the left thumb stick.
    
    Returns:
    
    the current y-position of the left thumb stick.
  - leftStickNegativeY
```
public boolean leftStickNegativeY()
```
    Returns true if the y-position of the left stick is below a set threshold, or false otherwise.
    
    Returns:
    
    true if the y-position of the left stick is below a set threshold.
    
    See Also:
    
    JOYSTICK_PRESS_THRESHOLD
  - leftStickPositiveY
```
public boolean leftStickPositiveY()
```
    Returns true if the y-position of the left stick is above a set threshold, or false otherwise.
    
    Returns:
    
    true if the y-position of the left stick is above a set threshold.
    
    See Also:
    
    JOYSTICK_PRESS_THRESHOLD
  - rightStickX
```
public double rightStickX()
```
    Returns the current x-position of the right thumb stick.
    
    Returns:
    
    the current x-position of the right thumb stick.
  - rightStickNegativeX
```
public boolean rightStickNegativeX()
```
    Returns true if the x-position of the right stick is below a set threshold, or false otherwise.
    
    Returns:
    
    true if the x-position of the right stick is below a set threshold.
    
    See Also:
    
    JOYSTICK_PRESS_THRESHOLD
  - rightStickPositiveX
```
public boolean rightStickPositiveX()
```
    Returns true if the x-position of the right stick is above a set threshold, or false otherwise.
    
    Returns:
    
    true if the x-position of the right stick is above a set threshold.
    
    See Also:
    
    JOYSTICK_PRESS_THRESHOLD
  - rightStickY
```
public double rightStickY()
```
    Returns the current y-position of the right thumb stick.
    
    Returns:
    
    the current y-position of the right thumb stick.
  - rightStickNegativeY
```
public boolean rightStickNegativeY()
```
    Returns true if the y-position of the right stick is below a set threshold, or false otherwise.
    
    Returns:
    
    true if the y-position of the right stick is below a set threshold.
    
    See Also:
    
    JOYSTICK_PRESS_THRESHOLD
  - rightStickPositiveY
```
public boolean rightStickPositiveY()
```
    Returns true if the y-position of the right stick is above a set threshold, or false otherwise.
    
    Returns:
    
    true if the y-position of the right stick is above a set threshold.
    
    See Also:
    
    JOYSTICK_PRESS_THRESHOLD
  - toButtonList
```
public java.util.List<JoystickButton> toButtonList()
```
    Generates a list of JoystickButtons that represent all the buttons that are currently pressed on this joystick.
    
    Returns:
    
    the buttons currently pressed on the joystick.

Class Joystick

Field Summary

Constructor Summary

Method Summary

Methods inherited from class java.lang.Object

Field Detail

baseGamepad

THUMBSTICK_THRESHOLD

THUMBSTICK_MAX

THUMBSTICK_REST

THUMBSTICK_MIN

TRIGGER_MAX

TRIGGER_MIN

JOYSTICK_PRESS_THRESHOLD

TRIGGER_PRESS_THRESHOLD

Constructor Detail

Joystick

Method Detail

scaleJoystickInput

aButton

bButton

xButton

yButton

upButton

downButton

leftButton

rightButton

leftBumper

rightBumper

leftStickButton

rightStickButton

leftTrigger

leftTriggerPressed

rightTrigger

rightTriggerPressed

leftStickX

leftStickNegativeX

leftStickPositiveX

leftStickY

leftStickNegativeY

leftStickPositiveY

rightStickX

rightStickNegativeX

rightStickPositiveX

rightStickY

rightStickNegativeY

rightStickPositiveY

toButtonList