Software / API Bindings / C# / API Reference and Examples / Bricklets / Joystick Bricklet

C# - Joystick Bricklet¶

This is the description of the C# API bindings for the Joystick Bricklet. General information and technical specifications for the Joystick Bricklet are summarized in its hardware description.

An installation guide for the C# API bindings is part of their general description.

Examples¶

The example code below is Public Domain (CC0 1.0).

Simple¶

Download (ExampleSimple.cs)

using System;
using Tinkerforge;

class Example
{
    private static string HOST = "localhost";
    private static int PORT = 4223;
    private static string UID = "XYZ"; // Change XYZ to the UID of your Joystick Bricklet

    static void Main()
    {
        IPConnection ipcon = new IPConnection(); // Create IP connection
        BrickletJoystick j = new BrickletJoystick(UID, ipcon); // Create device object

        ipcon.Connect(HOST, PORT); // Connect to brickd
        // Don't use device before ipcon is connected

        // Get current position
        short x, y;
        j.GetPosition(out x, out y);

        Console.WriteLine("Position [X]: " + x);
        Console.WriteLine("Position [Y]: " + y);

        Console.WriteLine("Press enter to exit");
        Console.ReadLine();
        ipcon.Disconnect();
    }
}

Callback¶

Download (ExampleCallback.cs)

using System;
using Tinkerforge;

class Example
{
    private static string HOST = "localhost";
    private static int PORT = 4223;
    private static string UID = "XYZ"; // Change XYZ to the UID of your Joystick Bricklet

    // Callback function for pressed callback
    static void PressedCB(BrickletJoystick sender)
    {
        Console.WriteLine("Pressed");
    }

    // Callback function for released callback
    static void ReleasedCB(BrickletJoystick sender)
    {
        Console.WriteLine("Released");
    }

    static void Main()
    {
        IPConnection ipcon = new IPConnection(); // Create IP connection
        BrickletJoystick j = new BrickletJoystick(UID, ipcon); // Create device object

        ipcon.Connect(HOST, PORT); // Connect to brickd
        // Don't use device before ipcon is connected

        // Register pressed callback to function PressedCB
        j.PressedCallback += PressedCB;

        // Register released callback to function ReleasedCB
        j.ReleasedCallback += ReleasedCB;

        Console.WriteLine("Press enter to exit");
        Console.ReadLine();
        ipcon.Disconnect();
    }
}

Find Borders¶

Download (ExampleFindBorders.cs)

using System;
using Tinkerforge;

class Example
{
    private static string HOST = "localhost";
    private static int PORT = 4223;
    private static string UID = "XYZ"; // Change XYZ to the UID of your Joystick Bricklet

    // Callback function for position reached callback
    static void PositionReachedCB(BrickletJoystick sender, short x, short y)
    {
        if(y == 100)
        {
            Console.WriteLine("Top");
        }
        else if(y == -100)
        {
            Console.WriteLine("Bottom");
        }

        if(x == 100)
        {
            Console.WriteLine("Right");
        }
        else if(x == -100)
        {
            Console.WriteLine("Left");
        }

        Console.WriteLine("");
    }

    static void Main()
    {
        IPConnection ipcon = new IPConnection(); // Create IP connection
        BrickletJoystick j = new BrickletJoystick(UID, ipcon); // Create device object

        ipcon.Connect(HOST, PORT); // Connect to brickd
        // Don't use device before ipcon is connected

        // Get threshold callbacks with a debounce time of 0.2 seconds (200ms)
        j.SetDebouncePeriod(200);

        // Register position reached callback to function PositionReachedCB
        j.PositionReachedCallback += PositionReachedCB;

        // Configure threshold for position "outside of -99, -99 to 99, 99"
        j.SetPositionCallbackThreshold('o', -99, 99, -99, 99);

        Console.WriteLine("Press enter to exit");
        Console.ReadLine();
        ipcon.Disconnect();
    }
}

API¶

Generally, every method of the C# bindings that returns a value can throw a Tinkerforge.TimeoutException. This exception gets thrown if the device did not respond. If a cable based connection is used, it is unlikely that this exception gets thrown (assuming nobody plugs the device out). However, if a wireless connection is used, timeouts will occur if the distance to the device gets too big.

Since C# does not support multiple return values directly, we use the out keyword to return multiple values from a method.

The namespace for all Brick/Bricklet bindings and the IPConnection is Tinkerforge.*.

All methods listed below are thread-safe.

Basic Functions¶

class BrickletJoystick(string uid, IPConnection ipcon)¶

Parameters:	uid – Type: string ipcon – Type: IPConnection
Returns:	joystick – Type: BrickletJoystick

Creates an object with the unique device ID uid:

BrickletJoystick joystick = new BrickletJoystick("YOUR_DEVICE_UID", ipcon);

This object can then be used after the IP Connection is connected.

void BrickletJoystick.GetPosition(out short x, out short y)¶

Output Parameters:	x – Type: short, Range: [-100 to 100] y – Type: short, Range: [-100 to 100]

Returns the position of the joystick. The middle position of the joystick is x=0, y=0. The returned values are averaged and calibrated (see Calibrate()).

If you want to get the position periodically, it is recommended to use the PositionCallback callback and set the period with SetPositionCallbackPeriod().

bool BrickletJoystick.IsPressed()¶

Returns:	pressed – Type: bool

Returns true if the button is pressed and false otherwise.

It is recommended to use the PressedCallback and ReleasedCallback callbacks to handle the button.

Advanced Functions¶

void BrickletJoystick.GetAnalogValue(out int x, out int y)¶

Output Parameters:	x – Type: int, Range: [0 to 2¹² - 1] y – Type: int, Range: [0 to 2¹² - 1]

Returns the values as read by a 12-bit analog-to-digital converter.

Note

The values returned by GetPosition() are averaged over several samples to yield less noise, while GetAnalogValue() gives back raw unfiltered analog values. The only reason to use GetAnalogValue() is, if you need the full resolution of the analog-to-digital converter.

If you want the analog values periodically, it is recommended to use the AnalogValueCallback callback and set the period with SetAnalogValueCallbackPeriod().

void BrickletJoystick.Calibrate()¶

Calibrates the middle position of the joystick. If your Joystick Bricklet does not return x=0 and y=0 in the middle position, call this function while the joystick is standing still in the middle position.

The resulting calibration will be saved on the EEPROM of the Joystick Bricklet, thus you only have to calibrate it once.

void BrickletJoystick.GetIdentity(out string uid, out string connectedUid, out char position, out byte[] hardwareVersion, out byte[] firmwareVersion, out int deviceIdentifier)¶

Output Parameters:

Output Parameters:	uid – Type: string, Length: up to 8 connectedUid – Type: string, Length: up to 8 position – Type: char, Range: ['a' to 'h', 'z'] hardwareVersion – Type: byte[], Length: 3 0: major – Type: byte, Range: [0 to 255] 1: minor – Type: byte, Range: [0 to 255] 2: revision – Type: byte, Range: [0 to 255] firmwareVersion – Type: byte[], Length: 3 0: major – Type: byte, Range: [0 to 255] 1: minor – Type: byte, Range: [0 to 255] 2: revision – Type: byte, Range: [0 to 255] deviceIdentifier – Type: int, Range: [0 to 2¹⁶ - 1]

uid – Type: string, Length: up to 8
connectedUid – Type: string, Length: up to 8
position – Type: char, Range: ['a' to 'h', 'z']
hardwareVersion – Type: byte[], Length: 3

0: major – Type: byte, Range: [0 to 255]
1: minor – Type: byte, Range: [0 to 255]
2: revision – Type: byte, Range: [0 to 255]

firmwareVersion – Type: byte[], Length: 3

0: major – Type: byte, Range: [0 to 255]
1: minor – Type: byte, Range: [0 to 255]
2: revision – Type: byte, Range: [0 to 255]

deviceIdentifier – Type: int, Range: [0 to 2¹⁶ - 1]

Returns the UID, the UID where the Bricklet is connected to, the position, the hardware and firmware version as well as the device identifier.

The position can be 'a', 'b', 'c', 'd', 'e', 'f', 'g' or 'h' (Bricklet Port). A Bricklet connected to an Isolator Bricklet is always at position 'z'.

The device identifier numbers can be found here. There is also a constant for the device identifier of this Bricklet.

Callback Configuration Functions¶

void BrickletJoystick.SetPositionCallbackPeriod(long period)¶

Parameters:	period – Type: long, Unit: 1 ms, Range: [0 to 2³² - 1], Default: 0

Sets the period with which the PositionCallback callback is triggered periodically. A value of 0 turns the callback off.

The PositionCallback callback is only triggered if the position has changed since the last triggering.

long BrickletJoystick.GetPositionCallbackPeriod()¶

Returns:	period – Type: long, Unit: 1 ms, Range: [0 to 2³² - 1], Default: 0

Returns the period as set by SetPositionCallbackPeriod().

void BrickletJoystick.SetAnalogValueCallbackPeriod(long period)¶

Parameters:	period – Type: long, Unit: 1 ms, Range: [0 to 2³² - 1], Default: 0

Sets the period with which the AnalogValueCallback callback is triggered periodically. A value of 0 turns the callback off.

The AnalogValueCallback callback is only triggered if the analog values have changed since the last triggering.

long BrickletJoystick.GetAnalogValueCallbackPeriod()¶

Returns:	period – Type: long, Unit: 1 ms, Range: [0 to 2³² - 1], Default: 0

Returns the period as set by SetAnalogValueCallbackPeriod().

void BrickletJoystick.SetPositionCallbackThreshold(char option, short minX, short maxX, short minY, short maxY)¶

Parameters:	option – Type: char, Range: See constants, Default: 'x' minX – Type: short, Range: [-2¹⁵ to 2¹⁵ - 1], Default: 0 maxX – Type: short, Range: [-2¹⁵ to 2¹⁵ - 1], Default: 0 minY – Type: short, Range: [-2¹⁵ to 2¹⁵ - 1], Default: 0 maxY – Type: short, Range: [-2¹⁵ to 2¹⁵ - 1], Default: 0

Sets the thresholds for the PositionReachedCallback callback.

The following options are possible:

Option	Description
'x'	Callback is turned off
'o'	Callback is triggered when the position is outside the min and max values
'i'	Callback is triggered when the position is inside the min and max values
'<'	Callback is triggered when the position is smaller than the min values (max is ignored)
'>'	Callback is triggered when the position is greater than the min values (max is ignored)

The following constants are available for this function:

For option:

BrickletJoystick.THRESHOLD_OPTION_OFF = 'x'
BrickletJoystick.THRESHOLD_OPTION_OUTSIDE = 'o'
BrickletJoystick.THRESHOLD_OPTION_INSIDE = 'i'
BrickletJoystick.THRESHOLD_OPTION_SMALLER = '<'
BrickletJoystick.THRESHOLD_OPTION_GREATER = '>'

void BrickletJoystick.GetPositionCallbackThreshold(out char option, out short minX, out short maxX, out short minY, out short maxY)¶

Output Parameters:	option – Type: char, Range: See constants, Default: 'x' minX – Type: short, Range: [-2¹⁵ to 2¹⁵ - 1], Default: 0 maxX – Type: short, Range: [-2¹⁵ to 2¹⁵ - 1], Default: 0 minY – Type: short, Range: [-2¹⁵ to 2¹⁵ - 1], Default: 0 maxY – Type: short, Range: [-2¹⁵ to 2¹⁵ - 1], Default: 0

Returns the threshold as set by SetPositionCallbackThreshold().

The following constants are available for this function:

For option:

BrickletJoystick.THRESHOLD_OPTION_OFF = 'x'
BrickletJoystick.THRESHOLD_OPTION_OUTSIDE = 'o'
BrickletJoystick.THRESHOLD_OPTION_INSIDE = 'i'
BrickletJoystick.THRESHOLD_OPTION_SMALLER = '<'
BrickletJoystick.THRESHOLD_OPTION_GREATER = '>'

void BrickletJoystick.SetAnalogValueCallbackThreshold(char option, int minX, int maxX, int minY, int maxY)¶

Parameters:	option – Type: char, Range: See constants, Default: 'x' minX – Type: int, Range: [0 to 2¹⁶ - 1], Default: 0 maxX – Type: int, Range: [0 to 2¹⁶ - 1], Default: 0 minY – Type: int, Range: [0 to 2¹⁶ - 1], Default: 0 maxY – Type: int, Range: [0 to 2¹⁶ - 1], Default: 0

Sets the thresholds for the AnalogValueReachedCallback callback.

The following options are possible:

Option	Description
'x'	Callback is turned off
'o'	Callback is triggered when the analog values are outside the min and max values
'i'	Callback is triggered when the analog values are inside the min and max values
'<'	Callback is triggered when the analog values are smaller than the min values (max is ignored)
'>'	Callback is triggered when the analog values are greater than the min values (max is ignored)

The following constants are available for this function:

For option:

BrickletJoystick.THRESHOLD_OPTION_OFF = 'x'
BrickletJoystick.THRESHOLD_OPTION_OUTSIDE = 'o'
BrickletJoystick.THRESHOLD_OPTION_INSIDE = 'i'
BrickletJoystick.THRESHOLD_OPTION_SMALLER = '<'
BrickletJoystick.THRESHOLD_OPTION_GREATER = '>'

void BrickletJoystick.GetAnalogValueCallbackThreshold(out char option, out int minX, out int maxX, out int minY, out int maxY)¶

Output Parameters:	option – Type: char, Range: See constants, Default: 'x' minX – Type: int, Range: [0 to 2¹⁶ - 1], Default: 0 maxX – Type: int, Range: [0 to 2¹⁶ - 1], Default: 0 minY – Type: int, Range: [0 to 2¹⁶ - 1], Default: 0 maxY – Type: int, Range: [0 to 2¹⁶ - 1], Default: 0

Returns the threshold as set by SetAnalogValueCallbackThreshold().

The following constants are available for this function:

For option:

BrickletJoystick.THRESHOLD_OPTION_OFF = 'x'
BrickletJoystick.THRESHOLD_OPTION_OUTSIDE = 'o'
BrickletJoystick.THRESHOLD_OPTION_INSIDE = 'i'
BrickletJoystick.THRESHOLD_OPTION_SMALLER = '<'
BrickletJoystick.THRESHOLD_OPTION_GREATER = '>'

void BrickletJoystick.SetDebouncePeriod(long debounce)¶

Parameters:	debounce – Type: long, Unit: 1 ms, Range: [0 to 2³² - 1], Default: 100

Sets the period with which the threshold callbacks

PositionReachedCallback,
AnalogValueReachedCallback

are triggered, if the thresholds

SetPositionCallbackThreshold(),
SetAnalogValueCallbackThreshold()

keep being reached.

long BrickletJoystick.GetDebouncePeriod()¶

Returns:	debounce – Type: long, Unit: 1 ms, Range: [0 to 2³² - 1], Default: 100

Returns the debounce period as set by SetDebouncePeriod().

Callbacks¶

Callbacks can be registered to receive time critical or recurring data from the device. The registration is done by appending your callback handler to the corresponding event:

void MyCallback(BrickletJoystick sender, int value)
{
    System.Console.WriteLine("Value: " + value);
}

joystick.ExampleCallback += MyCallback;

The available events are described below.

Note

Using callbacks for recurring events is always preferred compared to using getters. It will use less USB bandwidth and the latency will be a lot better, since there is no round trip time.

event BrickletJoystick.PositionCallback(BrickletJoystick sender, short x, short y)¶

Callback Parameters:	sender – Type: BrickletJoystick x – Type: short, Range: [-100 to 100] y – Type: short, Range: [-100 to 100]

This callback is triggered periodically with the period that is set by SetPositionCallbackPeriod(). The parameter is the position of the joystick.

The PositionCallback callback is only triggered if the position has changed since the last triggering.

event BrickletJoystick.AnalogValueCallback(BrickletJoystick sender, int x, int y)¶

Callback Parameters:	sender – Type: BrickletJoystick x – Type: int, Range: [0 to 2¹² - 1] y – Type: int, Range: [0 to 2¹² - 1]

This callback is triggered periodically with the period that is set by SetAnalogValueCallbackPeriod(). The parameters are the analog values of the joystick.

The AnalogValueCallback callback is only triggered if the values have changed since the last triggering.

event BrickletJoystick.PositionReachedCallback(BrickletJoystick sender, short x, short y)¶

Callback Parameters:	sender – Type: BrickletJoystick x – Type: short, Range: [-100 to 100] y – Type: short, Range: [-100 to 100]

This callback is triggered when the threshold as set by SetPositionCallbackThreshold() is reached. The parameters are the position of the joystick.

If the threshold keeps being reached, the callback is triggered periodically with the period as set by SetDebouncePeriod().

event BrickletJoystick.AnalogValueReachedCallback(BrickletJoystick sender, int x, int y)¶

Callback Parameters:	sender – Type: BrickletJoystick x – Type: int, Range: [0 to 2¹² - 1] y – Type: int, Range: [0 to 2¹² - 1]

This callback is triggered when the threshold as set by SetAnalogValueCallbackThreshold() is reached. The parameters are the analog values of the joystick.

If the threshold keeps being reached, the callback is triggered periodically with the period as set by SetDebouncePeriod().

event BrickletJoystick.PressedCallback(BrickletJoystick sender)¶

Callback Parameters:	sender – Type: BrickletJoystick

This callback is triggered when the button is pressed.

event BrickletJoystick.ReleasedCallback(BrickletJoystick sender)¶

Callback Parameters:	sender – Type: BrickletJoystick

This callback is triggered when the button is released.

Virtual Functions¶

Virtual functions don't communicate with the device itself, but operate only on the API bindings device object. They can be called without the corresponding IP Connection object being connected.

byte[] BrickletJoystick.GetAPIVersion()¶

Output Parameters:	apiVersion – Type: byte[], Length: 3 0: major – Type: byte, Range: [0 to 255] 1: minor – Type: byte, Range: [0 to 255] 2: revision – Type: byte, Range: [0 to 255]

Returns the version of the API definition implemented by this API bindings. This is neither the release version of this API bindings nor does it tell you anything about the represented Brick or Bricklet.

bool BrickletJoystick.GetResponseExpected(byte functionId)¶

Parameters:	functionId – Type: byte, Range: See constants
Returns:	responseExpected – Type: bool

Returns the response expected flag for the function specified by the function ID parameter. It is true if the function is expected to send a response, false otherwise.

For getter functions this is enabled by default and cannot be disabled, because those functions will always send a response. For callback configuration functions it is enabled by default too, but can be disabled by SetResponseExpected(). For setter functions it is disabled by default and can be enabled.

Enabling the response expected flag for a setter function allows to detect timeouts and other error conditions calls of this setter as well. The device will then send a response for this purpose. If this flag is disabled for a setter function then no response is sent and errors are silently ignored, because they cannot be detected.

The following constants are available for this function:

For functionId:

BrickletJoystick.FUNCTION_CALIBRATE = 4
BrickletJoystick.FUNCTION_SET_POSITION_CALLBACK_PERIOD = 5
BrickletJoystick.FUNCTION_SET_ANALOG_VALUE_CALLBACK_PERIOD = 7
BrickletJoystick.FUNCTION_SET_POSITION_CALLBACK_THRESHOLD = 9
BrickletJoystick.FUNCTION_SET_ANALOG_VALUE_CALLBACK_THRESHOLD = 11
BrickletJoystick.FUNCTION_SET_DEBOUNCE_PERIOD = 13

void BrickletJoystick.SetResponseExpected(byte functionId, bool responseExpected)¶

Parameters:	functionId – Type: byte, Range: See constants responseExpected – Type: bool

Changes the response expected flag of the function specified by the function ID parameter. This flag can only be changed for setter (default value: false) and callback configuration functions (default value: true). For getter functions it is always enabled.

The following constants are available for this function:

For functionId:

BrickletJoystick.FUNCTION_CALIBRATE = 4
BrickletJoystick.FUNCTION_SET_POSITION_CALLBACK_PERIOD = 5
BrickletJoystick.FUNCTION_SET_ANALOG_VALUE_CALLBACK_PERIOD = 7
BrickletJoystick.FUNCTION_SET_POSITION_CALLBACK_THRESHOLD = 9
BrickletJoystick.FUNCTION_SET_ANALOG_VALUE_CALLBACK_THRESHOLD = 11
BrickletJoystick.FUNCTION_SET_DEBOUNCE_PERIOD = 13

void BrickletJoystick.SetResponseExpectedAll(bool responseExpected)¶

Parameters:	responseExpected – Type: bool

Changes the response expected flag for all setter and callback configuration functions of this device at once.

Constants¶

int BrickletJoystick.DEVICE_IDENTIFIER¶

This constant is used to identify a Joystick Bricklet.

The GetIdentity() function and the IPConnection.EnumerateCallback callback of the IP Connection have a deviceIdentifier parameter to specify the Brick's or Bricklet's type.

string BrickletJoystick.DEVICE_DISPLAY_NAME¶: This constant represents the human readable name of a Joystick Bricklet.