joystick

C++ code to handle PS3 joystick events on Linux with the intent of passing them off to a robot eventually.

TODO:

figure out what the left dpad axis ID is.
on initialization, the joystick updates every button and every axis. Handle.
Provide a copy constructor?
actually do something with all this

Usage:

The Joystick class exposes the following interface

class Joystick
{
public:
    Joystick(string filename="/dev/input/js0");
    ~Joystick();

    // reads in the next available joystick update. Blocks until it receives an update.
    void Update();

    // Checks if the most recent call to this->Update() was a Button or an Axis
    bool hasButtonUpdate();
    bool hasAxisUpdate();

    // Get the ID of the updated button or axis
    ButtonId getUpdatedButton();
    AxisId getUpdatedAxis();

    // get the state of a particular button or axis
    uint8_t getButtonState(ButtonId button_id);
    int16_t getAxisState(AxisId axis_id);
};

Note that ButtonId and AxisId are enums defined in ps3_mappings.h as follows

enum AxisId
{
    AXIS_LEFT_STICK_HORIZONTAL,  // 0
    AXIS_LEFT_STICK_VERTICAL,    // 1
    AXIS_RIGHT_STICK_HORIZONTAL, // 2
    AXIS_RIGHT_STICK_VERTICAL,   // 3
    NA4,
    NA5,
    NA6,
    NA7,
    AXIS_DPAD_UP,                // 8
    AXIS_DPAD_RIGHT,             // 9
    AXIS_DPAD_DOWN,              // 10
    // who knows what the left value should be...
    AXIS_DPAD_LEFT,              // 11
    AXIS_LEFT_TRIGGER,           // 12
    AXIS_RIGHT_TRIGGER,          // 13
    AXIS_LEFT_BUMPER,            // 14
    AXIS_RIGHT_BUMPER,           // 15
    AXIS_TRIANGLE,               // 16
    AXIS_CIRCLE,                 // 17
    AXIS_X,                      // 18
    AXIS_SQUARE,                 // 19
    NA20,
    NA21,
    NA22,
    // X is left/right
    AXIS_ACCEL_X,                // 23 note: left is positive, right is negative
    // Y is front/back
    AXIS_ACCEL_Y,                // 24 note: back is positive, forward is negative
    // Z is up/down
    AXIS_ACCEL_Z,                // 25 note: can't tell what sign is what
};

Axes 4-7 and 20-22 are unimplemented on the PS3 controller as near as I can tell. Further, I am unsure what the value of AXIS_DPAD_LEFT should be. Both of the controllers I have tested do not send an Axis update when the left DPAD button is pressed - but it does for the other three. Logically, it should be 11 as the numberings start at the top and go clockwise for the shape buttons, and the go clockwise for the DPAD as well.

enum ButtonId
{
    BUTTON_SELECT,          //  0
    BUTTON_LEFT_JOYSTICK,   //  1
    BUTTON_RIGHT_JOYSTICK,  //  2
    BUTTON_START,           //  3
    BUTTON_DPAD_UP,         //  4
    BUTTON_DPAD_RIGHT,      //  5
    BUTTON_DPAD_DOWN,       //  6
    BUTTON_DPAD_LEFT,       //  7
    BUTTON_LEFT_TRIGGER,    //  8
    BUTTON_RIGHT_TRIGGER,   //  9
    BUTTON_LEFT_BUMPER,     // 10
    BUTTON_RIGHT_BUMPER,    // 11
    BUTTON_TRIANGLE,        // 12
    BUTTON_CIRCLE,          // 13
    BUTTON_X,               // 14
    BUTTON_SQUARE,          // 15
    BUTTON_PS3,             // 16
};

An example of how to use Joystick is provided in test.cpp - compiled with the given makefile and ran with ./test /dev/input/js1. Note that the files updates.h and updates.cpp are not a part of the interface, and should be project specific - they are included here only as a quick example of how to use Joystick.

Further note that you will run into issues if you pass a Joystick object around instead of passing a Joystick*.

Both ps3_mappings.h and 360_mappings.h are included. Only the PS3 one has been tested. I've been told it works best for interfacing with a joystick on Linux.

There is now a Python version of of Joystick that works almost exactly the same. See python/test.py for the top level code and python/controller.py for project/implementation specific code.

Notgnoshi/joystick

joystick

TODO:

Usage: