SpaceNavJoystick Class Reference

Joystick class for using a SpaceNavigator 3d mouse for controlling the robots. More...

Public Member Functions
bool	valid () const override
	Returns whether or not we can connect to the spacenav driver. More...
void	reset () override
	Resets any stored values. More...
void	update () override
	Instructs the joystick to updates its values.
JoystickControlValues	getJoystickControlValues () override
	Returns the control values from this joystick. More...
Public Member Functions inherited from Joystick
int	getRobotId ()
void	setRobotId (int rId)

Static Public Member Functions
static void	createConfiguration (Configuration *cfg)
Static Public Member Functions inherited from Joystick
static void	createConfiguration (Configuration *cfg)

Static Public Attributes
static ConfigDouble *	DribblerPositiveDeadzone
static ConfigDouble *	DribblerNegativeDeadzone
Static Public Attributes inherited from Joystick
static ConfigDouble *	JoystickRotationMaxSpeed
static ConfigDouble *	JoystickRotationMaxDampedSpeed
static ConfigDouble *	JoystickTranslationMaxSpeed
static ConfigDouble *	JoystickTranslationMaxDampedSpeed

Protected Member Functions
void	open ()
void	close ()
Protected Member Functions inherited from Joystick
QMutex &	mutex ()

Protected Attributes
bool	_daemonConnected
bool	_daemonTried
JoystickControlValues	_controlValues
RJ::Time	_lastDribbleTime
Protected Attributes inherited from Joystick
int	robotId

Detailed Description

Joystick class for using a SpaceNavigator 3d mouse for controlling the robots.

Control mappings:

• Translation - just as you'd expect. Moving the know forward and sideways corresponds directly with robot movement
• Rotation - again as you'd expect. Rotating the knob rotates the robot
• Kick - left mouse button
• Chip - right mouse button
• Dribbler - push down on the knob to increase speed, pull up on it to decrease speed

Note: usage of this joystick requires the spacenavd userspace driver daemon to be running.

Inheritance diagram for SpaceNavJoystick:

Collaboration diagram for SpaceNavJoystick:

Member Function Documentation

getJoystickControlValues()

JoystickControlValues SpaceNavJoystick::getJoystickControlValues ( )

overridevirtual

Returns the control values from this joystick.

Note: The controls should be scaled between 0 and 1. The processor handles scaling to real world values.

Returns

The control values for this joystick

Implements Joystick.

reset()

void SpaceNavJoystick::reset ( )

overridevirtual

Resets any stored values.

Joysticks are reset whenever the robot they're controlling is switched

Implements Joystick.

valid()

bool SpaceNavJoystick::valid ( ) const

overridevirtual

Returns whether or not we can connect to the spacenav driver.

Unfortunately there is no api available for detecting whether or not there is a SpaceNavigator connected - we can only tell whether or not we can connect to the daemon. This is less than ideal, but it's what we've got.

Returns

A boolean indicating if the joystick is valid

Implements Joystick.

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

• soccer/joystick/SpaceNavJoystick.hpp
• soccer/joystick/SpaceNavJoystick.cpp