cras_joy_tools package

cras_joy_tools.history_joystick module

Stateful gamepad/joystick library. It allows querying for button state changes, button combos etc.

Originally implemented in nifti_teleop_joy.

class cras_joy_tools.history_joystick.HistoryJoystick(*args, **kwds)

Bases: sensor_msgs.msg._Joy.Joy

Class to allow detecting transition in buttons and axes.

It can be used like a Joy message but with additional methods.

axis_moved(axis_id)

Check if a given axis has moved.

axis_released(axis_id)

Check if a given axis has just been released has (transition anything else->0).

axis_touched(axis_id)

Check if a given axis that was released has moved (transition 0->anything else).

button_changed(button_id)

Check if a given button state has just changed (either transitions).

button_changed_any(button_ids)

Check if any of given buttons state has just changed (either transitions).

is_down(button_id)

Check if a given button is currently pressed down (state 1).

is_down_all(button_ids)

Check if all of given button are currently pressed down (state 1).

is_down_any(button_ids)

Check if any of given button is currently pressed down (state 1).

is_down_only(button_id)

pressed(button_id)

Check if a given button has just been pressed (transition 0->1).

pressed_any(button_ids)

Check if at least one in a given list of buttons has just been pressed (transition 0->1).

pressed_button_combo(button_ids)

Check if the given button combination has just been pressed ( all buttons 1 and one of them just transitioned 0->1)

released(button_id)

Check if a given button has just been released (transition 1->0).

released_all(button_ids)

Check if all given buttons have just been released (transition 1->0).

released_any(button_ids)

Check if any of given buttons has just been released (transition 1->0).

update(joy)

To be called with each new joystick data.

was_down(button_id)

Check if a given button was pressed down (state 1).

was_down_all(button_ids)

Check if all given button were pressed down (state 1).

was_down_any(button_ids)

Check if any of given button was pressed down (state 1).

was_down_only(button_id)