class mrpt::hwdrivers::CJoystick

Overview

Reads axis positions and button states from joysticks and gamepads.

Supports an arbitrary number of axes and buttons. Enumerates connected devices via getJoysticksCount() and reads state with getJoystickPosition().

Platform support: Linux (via /dev/input/jsX) and Windows (WinMM joystick API).

As of MRPT 2.13.0 the API was extended to support an arbitrary number of input axes (previously only x, y, z were exposed).

#include <mrpt/hwdrivers/CJoystick.h>

class CJoystick
{
public:
    // structs

    struct State;

    // construction

    CJoystick();

    // methods

    bool getJoystickPosition(int nJoy, State& output);
    void setLimits(const std::vector<int>& minPerAxis, const std::vector<int>& maxPerAxis);
    static int getJoysticksCount();
};

Construction

CJoystick()

Default constructor.

Methods

bool getJoystickPosition(int nJoy, State& output)

Reads the current state of a joystick.

Attempts to open the device if not already open, so it is safe to call while joysticks are plugged or unplugged.

Parameters:

nJoy	Zero-based index of the joystick to query.
output	Filled with normalized axis values [0,1] in output.axes, raw axis values in output.axes_raw, and button states in output.buttons.

Returns:

true on success; false if the device is absent or an error occurs.

See also:

setLimits

void setLimits(
    const std::vector<int>& minPerAxis,
    const std::vector<int>& maxPerAxis
    )

Sets the raw ADC range for each axis, used to normalize to [-1,1].

Required only when calibrating analog joysticks whose default range differs from the platform default (Windows: [0, 0xFFFF]; Linux: [-32767, 32767]).

Parameters:

minPerAxis	Vector of minimum raw values per axis.
maxPerAxis	Vector of maximum raw values per axis.