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linuxjoystick [Drivers] The linuxjoystick driver reads data from a standard Linux joystick and provides the data via the joystick interface. This driver can also control a position device by converting joystick positions to velocity commands. Compile-time dependencies <linux/joystick.h> Provides joystick : joystick data position : joystick data represented as 2-D position data. Raw X- and Y-axis values are reported as xpos and ypos in the position packet (all other fields are zero). Requires position : if present, joystick positions will be interpreted as velocities and sent as commands to this position device. See also max_xspeed and max_yawspeed options below. Configuration requests None Configuration file options port (string) Default: "/dev/js0" The joystick to be used. axes (integer tuple) Default: [0 1] Which joystick axes to call the "X" and "Y" axes, respectively. axis_maxima (integer tuple) Default: [32767 32767] Maximum absolute values attainable on the X and Y axes, respectively. axis_minima (integer tuple) Default: [0 0] Minimum values on the X and Y 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. max_xspeed (length / sec) Default: 0.5 m/sec The maximum absolute translational velocity to be used when commanding a position device. max_yawspeed (angle / sec) Default: 30 deg/sec The maximum absolute rotational velocity to be used when commanding a position device. timeout (float) Default: 5.0 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. Examples Basic configuration driver ( name "linuxjoystick" provides ["joystick:0"] port "/dev/js0" ) Provide a position interface, instead of a joystick interface. driver ( name "linuxjoystick" provides ["position:0"] port "/dev/js0" ) Controlling a Pioneer, plus remapping joystick axes and setting various limits. driver ( name "p2os" provides ["odometry::position:0"] port "/dev/usb/tts/0" ) driver ( name "linuxjoystick" provides ["joystick:0"] requires ["odometry::position:0"] max_yawspeed 50 max_xspeed 0.5 axes [3 4] axis_minima [5000 5000] port "/dev/js0" alwayson 1 ) Todo: Add support for continuously sending commands, which might be needed for position devices that use watchdog timers. Authors Andrew Howard, Brian Gerkey, Paul Osmialowski