baxter_external_devices.joystick.Joystick Class Reference

Inheritance diagram for baxter_external_devices.joystick.Joystick:

List of all members.

Public Member Functions
def	__init__
def	button_down
def	button_up
def	stick_changed
def	stick_dec
def	stick_inc
def	stick_value
Private Member Functions
def	_on_joy
Private Attributes
	_buttons
	_controls
	_deadband
	_offset
	_scale
	_sticks

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Detailed Description

Abstract base class to handle joystick input.

Definition at line 106 of file joystick.py.

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Constructor & Destructor Documentation

def baxter_external_devices.joystick.Joystick.__init__	(		self,
			scale = 1.0,
			offset = 0.0,
			deadband = 0.1
	)

Maps joystick input to robot control.

@type scale: float
@param scale: scaling applied to joystick values [1.0]
@type offset: float
@param offset: joystick offset values, post-scaling [0.0]
@type deadband: float
@param deadband: deadband post scaling and offset [0.1]

Raw joystick valuess are in [1.0...-1.0].

Reimplemented in baxter_external_devices.joystick.PS3Controller, baxter_external_devices.joystick.LogitechController, and baxter_external_devices.joystick.XboxController.

Definition at line 111 of file joystick.py.

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Member Function Documentation

def baxter_external_devices.joystick.Joystick._on_joy	(		self,
			msg
	)		[private]

callback for messages from joystick input
Args:
      msg(Joy): a joystick input message

Reimplemented in baxter_external_devices.joystick.PS3Controller, baxter_external_devices.joystick.LogitechController, and baxter_external_devices.joystick.XboxController.

Definition at line 154 of file joystick.py.

def baxter_external_devices.joystick.Joystick.button_down	(		self,
			name
	)

Definition at line 164 of file joystick.py.

def baxter_external_devices.joystick.Joystick.button_up	(		self,
			name
	)

Definition at line 161 of file joystick.py.

def baxter_external_devices.joystick.Joystick.stick_changed	(		self,
			name
	)

Definition at line 167 of file joystick.py.

def baxter_external_devices.joystick.Joystick.stick_dec	(		self,
			name
	)

Definition at line 173 of file joystick.py.

def baxter_external_devices.joystick.Joystick.stick_inc	(		self,
			name
	)

Definition at line 170 of file joystick.py.

def baxter_external_devices.joystick.Joystick.stick_value	(		self,
			name
	)

Returns:
    the deadbanded, scaled and offset value of the axis

Definition at line 176 of file joystick.py.

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Member Data Documentation

baxter_external_devices::joystick.Joystick::_buttons [private]

Definition at line 122 of file joystick.py.

baxter_external_devices::joystick.Joystick::_controls [private]

Definition at line 122 of file joystick.py.

baxter_external_devices::joystick.Joystick::_deadband [private]

Definition at line 122 of file joystick.py.

baxter_external_devices::joystick.Joystick::_offset [private]

Definition at line 122 of file joystick.py.

baxter_external_devices::joystick.Joystick::_scale [private]

Definition at line 122 of file joystick.py.

baxter_external_devices::joystick.Joystick::_sticks [private]

Definition at line 122 of file joystick.py.

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

• joystick.py