<!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.01//EN" "http://www.w3.org/TR/html4/strict.dtd"> <html> <!-- $Id: header.html 8799 2010-06-28 04:12:42Z jpgr87 $ --> <HEAD> <meta HTTP-EQUIV="Content-Type" CONTENT="text/html;CHARSET=utf-8"> <meta name="keywords" content="stage, robot, simulation, player, player/stage"> <link href="doxygen.css" rel="stylesheet" type="text/css"> <style type="text/css"> .floatright { float: right; margin: 0 0 1em 1em; } body { font-family: sans-serif; #font-family: Geneva, Verdana, Helvetica, Arial, sans-serif; background-color: #FFF; color:#000; } a:link { color: #A00; } a:visited { color: #800; } a { text-decoration: none; } a:hover { text-decoration: underline; } .timestamp { text-align:right; background-color: #DDD; font-size:75%;} h1 { font-size:160%; } h2 { font-size:110%; #color: #FFF; #background-color: #666; #padding:3px; } h3 { text-align:left; } img { border: 0; } ul.menu { position:relative; left:-2.5em; margin-bottom:0px; margin-top:0px; } ul.menu1 { position:relative; left:-2.1em; margin-bottom:0px; margin-top:0px; } li.menu { list-style-type: none; position:relative; #left:-0.5em; } #sidebar { position: absolute; left:0px; padding:2em; top:0em; width:12em;} #content { position: absolute; left:12em; top:0em; padding-left:3em; padding-right:3em; padding-bottom:2em; margin-top:1em; margin-right:2em; } div.box { background-color:#EEE; border: 1px solid #000; padding: 0.5ex 0.4em 0.5ex 0.6em; margin:1em; } div.title { font-weight:bold; background-color:#eee; margin-bottom:2px;} div.topbar { position: absolute; top:0px; left:9em; margin:1em; } </style> <TITLE>Player Manual</TITLE> </HEAD> <body> <div id="sidebar"> <h2 style="text-align:center;"> <a href="index.html"> <img width=140 src="http://playerstage.sourceforge.net/images/player_button_v3.png" alt="Player logo"><br></a> </h2> <div class="box"> <div class=title>Player</div> <ul class=menu> <li class=menu><a href="index.html">Frontpage</a> <li class=menu><a href="modules.html">Contents</a> </ul> </div> <div class="box"> <div class=title>User</div> <ul class=menu> <li class=menu><a href="install.html">Installation</a> <li class=menu><a href="start.html">Quick start</a> <li class=menu><a href="supported_hardware.html">Supported devices</a> <li class=menu><a href="group__tutorials.html">Tutorials</a> <li class=menu><a href="group__utils.html">Utilities</a> <li class=menu><a href="group__clientlibs.html">Client libraries</a> <li class=menu><a href="http://playerstage.sourceforge.net/wiki/Basic_FAQ">FAQ</a> <li class=menu><a href="help.html">Help</a> </ul> </div> <div class=box> <div class="title">Developer</div> <ul class=menu> <li class=menu><a href="architecture.html">Architecture</a> <li class=menu><a href="group__libplayercore.html">libplayercore</a> <ul class=menu1> <li class=menu><a href="group__interfaces.html">interfaces</a></li> </ul> <li class=menu><a href="group__libplayerdrivers.html">libplayerdrivers</a> <ul class=menu1> <li class=menu><a href="group__drivers.html">drivers</a></li> </ul> <li class=menu><a href="group__libplayercommon.html">libplayercommon</a> <li class=menu><a href="group__libplayerutils.html">libplayerutils</a> <li class=menu><a href="group__libplayersd.html">libplayersd</a> <li class=menu><a href="group__libplayertcp.html">libplayertcp</a> <li class=menu><a href="group__libplayerxdr.html">libplayerxdr</a> <li class=menu><a href="todo.html">TODO</a> </ul> </div> <div class=box> <!-- <a href="http://sourceforge.net"><img border=0 src="http://sourceforge.net/sflogo.php?group_id=42445&type=1"></a> --> <div class="title">Online</div> <a href="http://playerstage.sourceforge.net">Homepage</a><br> <a href="http://sourceforge.net/project/showfiles.php?group_id=42445">Download</a><br> <a href="http://sourceforge.net/projects/playerstage">Project</a><br> <a href="http://sourceforge.net/tracker/?group_id=42445">Bugs</a><br> <a href="http://sourceforge.net/mail/?group_id=42445">Help</a> </div> </div> <div id="content" > <!-- Generated by Doxygen 1.7.1 --> <div class="header"> <div class="headertitle"> <h1>linuxjoystick<br/> <small> [<a class="el" href="group__drivers.html">Drivers</a>]</small> </h1> </div> </div> <div class="contents"> <p>Linux joystick. <a href="#_details">More...</a></p> <table class="memberdecls"> </table> <p>Linux joystick. </p> <p>The linuxjoystick driver reads data from a standard Linux joystick and provides the data via the <a class="el" href="group__interface__joystick.html">joystick</a> interface. This driver can also control a <a class="el" href="group__interface__position2d.html">position2d</a> device by converting joystick positions to velocity commands.</p> <dl class="user"><dt><b>Compile-time dependencies</b></dt><dd></dd></dl> <ul> <li><linux/joystick.h></li> </ul> <dl class="user"><dt><b>Provides</b></dt><dd></dd></dl> <ul> <li><a class="el" href="group__interface__joystick.html">joystick</a> : joystick data</li> <li><a class="el" href="group__interface__position2d.html">position2d</a> : joystick data represented as 2-D position data. Raw X-axis, Y-axis and Yaw-axis values are reported as pos[0], pos[1] and pos[3] in the position packet (all other fields are zero).</li> </ul> <dl class="user"><dt><b>Requires</b></dt><dd></dd></dl> <ul> <li><a class="el" href="group__interface__position2d.html">position2d</a> : if present, joystick positions will be interpreted as velocities and sent as commands to this position2d device. See also max_speed, and deadman_button options below.</li> <li><a class="el" href="group__interface__gripper.html">gripper</a> : if present, joystick buttons will be used to control given gripper (open, close, store, retrieve, stop).</li> </ul> <dl class="user"><dt><b>Configuration requests</b></dt><dd></dd></dl> <ul> <li>None</li> </ul> <dl class="user"><dt><b>Configuration file options</b></dt><dd></dd></dl> <ul> <li>port (string)<ul> <li>Default: "/dev/js0"</li> <li>The joystick to be used.</li> </ul> </li> <li>axes (integer tuple)<ul> <li>Default: [1 2 0]</li> <li>Which joystick axes to call the "X" , "Y" and "Yaw" axes, respectively.</li> </ul> </li> <li>axes_maxima (integer tuple)<ul> <li>Default: [32767 32767 32767]</li> <li>Maximum absolute values attainable on the X, Y and Yaw axes, respectively.</li> </ul> </li> <li>axes_minima (integer tuple)<ul> <li>Default: [0 0 0]</li> <li>Minimum values on the X and Yaw axes, respectively. Anything smaller in absolute value than this limit will be reported as zero. Useful for implementing a dead zone on a touchy joystick.</li> </ul> </li> <li>deadman_button (integer)<ul> <li>Default: -1</li> <li>When controlling a <a class="el" href="group__interface__position2d.html">position2d</a> device, if deadman_button is >= 0, this joystick button must be depressed for commands to be sent to that device.</li> </ul> </li> <li>max_speed (float tupple, m / sec or angle / sec)<ul> <li>Default: [0.5 0.5 30]</li> <li>The maximum absolute X and Y translational and rotational velocities to be used when commanding a position device. (Y is only revelant for holonomous robot)</li> </ul> </li> <li>scale_pos (float tuple)<ul> <li>Default: [1.0 1.0 1.0]</li> <li>Position2d readings scale</li> </ul> </li> <li>timeout (float)<ul> <li>Default: 5.0</li> <li>Time (in seconds) since receiving a new joystick event after which the underlying position device will be stopped, for safety. Set to 0.0 for no timeout.</li> </ul> </li> </ul> <ul> <li>Notes:<ul> <li>Joysticks use X for side-to-side and Y for forward-back, also their axes are backwards with respect to intuitive driving controls.</li> <li>This driver does not swap any axis, you have to handle this in the configuration file options via "axes". However the defaults values should suit your needs.</li> <li>This driver reverse the axes so that the joystick respect the intuitive driving controls.</li> <li>The Y axis is only revelant for holonomous platform (like the WizBot). <dl class="user"><dt><b>Examples</b></dt><dd></dd></dl> Basic configuration</li> </ul> </li> </ul> <div class="fragment"><pre class="fragment"> driver ( name "linuxjoystick" provides ["joystick:0"] port "/dev/js0" ) </pre></div><p>Provide a position2d interface, instead of a joystick interface.</p> <div class="fragment"><pre class="fragment"> driver ( name "linuxjoystick" provides ["position2d:0"] port "/dev/js0" scale_pos [ 0.0001 0.0001 0.0001 ] ) </pre></div><p>Controlling a Pioneer, plus remapping joystick axes and setting various limits.</p> <div class="fragment"><pre class="fragment"> driver ( name "p2os" provides ["odometry::position:0"] port "/dev/usb/tts/0" ) # 1 m/sec max linear velocity # 30 deg/sec max angular velocity # Axis 4 is X # Axis 3 is Yaw # Y is not used here driver ( name "linuxjoystick" provides ["joystick:0"] requires ["odometry::position:0"] max_speed [1 0 30] axes [4 -1 3] axes_minima [5000 0 5000] port "/dev/js0" alwayson 1 ) </pre></div><p>Controlling a WizBot in Gazebo, plus remapping joystick axes.</p> <div class="fragment"><pre class="fragment"> driver ( name "gazebo" provides ["simulation:0"] plugin "libgazeboplugin" server_id "default" ) driver ( name "gazebo" provides ["position2d:0"] gz_id "position_iface_0" ) # 0.5 m/sec max linear velocity # 120 deg/sec max angular velocity # Axis 1 is X # Axis 2 is Y # Axis 0 is Yaw driver ( name "linuxjoystick" provides ["joystick:0"] requires ["position2d:0"] max_speed [0.5 0.5 120] axes [1 2 0] port "/dev/js0" alwayson 1 ) </pre></div><dl class="todo"><dt><b><a class="el" href="todo.html#_todo000023">Todo:</a></b></dt><dd>Add support for continuously sending commands, which might be needed for position devices that use watchdog timers.</dd></dl> <dl class="author"><dt><b>Author:</b></dt><dd>Andrew Howard, Brian Gerkey, Paul Osmialowski </dd></dl> </div> <!-- render the modification time of the source file --> <div class="timestamp"> <hr> <table style="width:100%;"> <tr> <td style="text-align:left;"> Last updated 12 September 2005 21:38:45 <!-- <td style="text-align:right;"> <a href="http://validator.w3.org/check/referer"><img style="vertical-align:middle;border:0;width:88px;height:31px" src="http://www.w3.org/Icons/valid-html401" alt="Valid HTML 4.01!"></a> <a href="http://jigsaw.w3.org/css-validator/"> <img style="vertical-align:middle;border:0;width:88px;height:31px" src="http://jigsaw.w3.org/css-validator/images/vcss" alt="Valid CSS!"> </a> --> </tr> </table> </div> </tr> </table> </BODY> </HTML>