Sensor for a joystick controller. More...

#include <Joystick.h>

Public Member Functions
	Joystick (const std::string &device_path="/dev/input/js0")
	Open the device file. More...

	~Joystick () override
	Close device file.

bool	present () const noexcept
	Check if the device file was opened successfully.

std::string	prefix () const noexcept final
	Prefix of output in the observation dictionary. More...

void	write (Dictionary &output) final
	Write output to a dictionary. More...

Detailed Description

Sensor for a joystick controller.

Axes are the same for PS4 and Xbox controllers, but buttons differ slightly.

Outputs

This sensor has the following outputs:

Key	Type	Description
`cross_button`	float	bottom button (cross on PS4, A on Xbox)
`square_button`	float	left button (square on PS4, Y on Xbox)
`triangle_button`	float	top button (triangle on PS4, X on Xbox)
`left_button`	float	L1 on PS4, L on Xbox
`right_button`	float	R1 on PS4, R on Xbox

Note that the red button (circle on PS4, B on Xbox) serves as emergency stop 🚨: when it is pressed, the spine will terminate.

Key	Type	Description
`left_axis`	[float, float]	left analog joystick
`right_axis`	[float, float]	right analog joystick
`left_trigger`	float	left trigger if there is one (L2 on PS4)
`right_trigger`	float	right trigger if there is one (R2 on PS4)

Key	Type	Description
`pad_axis`	[float, float]	directional pad

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