Ruby - Joystick Bricklet¶

Simple¶

Download (example_simple.rb)

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#!/usr/bin/env ruby
# -*- ruby encoding: utf-8 -*-

require 'tinkerforge/ip_connection'
require 'tinkerforge/bricklet_joystick'

include Tinkerforge

HOST = 'localhost'
PORT = 4223
UID = 'XYZ' # Change XYZ to the UID of your Joystick Bricklet

ipcon = IPConnection.new # Create IP connection
j = BrickletJoystick.new UID, ipcon # Create device object

ipcon.connect HOST, PORT # Connect to brickd
# Don't use device before ipcon is connected

# Get current position as [x, y]
position = j.get_position

puts "Position [X]: #{position[0]}"
puts "Position [Y]: #{position[1]}"

puts 'Press key to exit'
$stdin.gets
ipcon.disconnect

Callback¶

Download (example_callback.rb)

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#!/usr/bin/env ruby
# -*- ruby encoding: utf-8 -*-

require 'tinkerforge/ip_connection'
require 'tinkerforge/bricklet_joystick'

include Tinkerforge

HOST = 'localhost'
PORT = 4223
UID = 'XYZ' # Change XYZ to the UID of your Joystick Bricklet

ipcon = IPConnection.new # Create IP connection
j = BrickletJoystick.new UID, ipcon # Create device object

ipcon.connect HOST, PORT # Connect to brickd
# Don't use device before ipcon is connected

# Register pressed callback
j.register_callback(BrickletJoystick::CALLBACK_PRESSED) do
  puts 'Pressed'
end

# Register released callback
j.register_callback(BrickletJoystick::CALLBACK_RELEASED) do
  puts 'Released'
end

puts 'Press key to exit'
$stdin.gets
ipcon.disconnect

Find Borders¶

Download (example_find_borders.rb)

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#!/usr/bin/env ruby
# -*- ruby encoding: utf-8 -*-

require 'tinkerforge/ip_connection'
require 'tinkerforge/bricklet_joystick'

include Tinkerforge

HOST = 'localhost'
PORT = 4223
UID = 'XYZ' # Change XYZ to the UID of your Joystick Bricklet

ipcon = IPConnection.new # Create IP connection
j = BrickletJoystick.new 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.set_debounce_period 200

# Register position reached callback
j.register_callback(BrickletJoystick::CALLBACK_POSITION_REACHED) do |x, y|
  if y == 100
    puts 'Top'
  elsif y == -100
    puts 'Bottom'
  end

  if x == 100
    puts 'Right'
  elsif x == -100
    puts 'Left'
  end

  puts ''
end

# Configure threshold for position "outside of -99, -99 to 99, 99"
j.set_position_callback_threshold 'o', -99, 99, -99, 99

puts 'Press key to exit'
$stdin.gets
ipcon.disconnect

Basic Functions¶

BrickletJoystick::new(uid, ipcon) → joystick¶

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

Creates an object with the unique device ID uid:

joystick = BrickletJoystick.new 'YOUR_DEVICE_UID', ipcon

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

BrickletJoystick#get_position → [int, int]¶

Return Array:	0: x – Type: int, Range: [-100 to 100] 1: y – Type: int, 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 ::CALLBACK_POSITION callback and set the period with #set_position_callback_period.

BrickletJoystick#is_pressed → bool¶

Returns:	pressed – Type: bool

Returns true if the button is pressed and false otherwise.

It is recommended to use the ::CALLBACK_PRESSED and ::CALLBACK_RELEASED callbacks to handle the button.

Advanced Functions¶

BrickletJoystick#get_analog_value → [int, int]¶

Return Array:	0: x – Type: int, Range: [0 to 212 - 1] 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 #get_position are averaged over several samples to yield less noise, while #get_analog_value gives back raw unfiltered analog values. The only reason to use #get_analog_value 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 ::CALLBACK_ANALOG_VALUE callback and set the period with #set_analog_value_callback_period.

BrickletJoystick#calibrate → nil¶

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.

BrickletJoystick#get_identity → [str, str, chr, [int, ...], [int, ...], int]¶

Return Array:

0: uid – Type: str, Length: up to 8 1: connected_uid – Type: str, Length: up to 8 2: position – Type: chr, Range: ['a' to 'h', 'z'] 3: hardware_version – Type: [int, ...], Length: 3 0: major – Type: int, Range: [0 to 255] 1: minor – Type: int, Range: [0 to 255] 2: revision – Type: int, Range: [0 to 255] 4: firmware_version – Type: [int, ...], Length: 3 0: major – Type: int, Range: [0 to 255] 1: minor – Type: int, Range: [0 to 255] 2: revision – Type: int, Range: [0 to 255] 5: device_identifier – 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¶

BrickletJoystick#register_callback(callback_id) { |param [, ...]| block } → nil¶

Parameters:	callback_id – Type: int

Registers the given block with the given callback_id.

The available callback IDs with corresponding function signatures are listed below.

BrickletJoystick#set_position_callback_period(period) → nil¶

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

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

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

BrickletJoystick#get_position_callback_period → int¶

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

Returns the period as set by #set_position_callback_period.

BrickletJoystick#set_analog_value_callback_period(period) → nil¶

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

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

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

BrickletJoystick#get_analog_value_callback_period → int¶

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

Returns the period as set by #set_analog_value_callback_period.

BrickletJoystick#set_position_callback_threshold(option, min_x, max_x, min_y, max_y) → nil¶

Parameters:	option – Type: chr, Range: See constants, Default: 'x' min_x – Type: int, Range: [-215 to 215 - 1], Default: 0 max_x – Type: int, Range: [-215 to 215 - 1], Default: 0 min_y – Type: int, Range: [-215 to 215 - 1], Default: 0 max_y – Type: int, Range: [-215 to 215 - 1], Default: 0

Sets the thresholds for the ::CALLBACK_POSITION_REACHED 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 = '>'

BrickletJoystick#get_position_callback_threshold → [chr, int, int, int, int]¶

Return Array:	0: option – Type: chr, Range: See constants, Default: 'x' 1: min_x – Type: int, Range: [-215 to 215 - 1], Default: 0 2: max_x – Type: int, Range: [-215 to 215 - 1], Default: 0 3: min_y – Type: int, Range: [-215 to 215 - 1], Default: 0 4: max_y – Type: int, Range: [-215 to 215 - 1], Default: 0

Returns the threshold as set by #set_position_callback_threshold.

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 = '>'

BrickletJoystick#set_analog_value_callback_threshold(option, min_x, max_x, min_y, max_y) → nil¶

Parameters:	option – Type: chr, Range: See constants, Default: 'x' min_x – Type: int, Range: [0 to 216 - 1], Default: 0 max_x – Type: int, Range: [0 to 216 - 1], Default: 0 min_y – Type: int, Range: [0 to 216 - 1], Default: 0 max_y – Type: int, Range: [0 to 216 - 1], Default: 0

Sets the thresholds for the ::CALLBACK_ANALOG_VALUE_REACHED 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 = '>'

BrickletJoystick#get_analog_value_callback_threshold → [chr, int, int, int, int]¶

Return Array:	0: option – Type: chr, Range: See constants, Default: 'x' 1: min_x – Type: int, Range: [0 to 216 - 1], Default: 0 2: max_x – Type: int, Range: [0 to 216 - 1], Default: 0 3: min_y – Type: int, Range: [0 to 216 - 1], Default: 0 4: max_y – Type: int, Range: [0 to 216 - 1], Default: 0

Returns the threshold as set by #set_analog_value_callback_threshold.

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 = '>'

BrickletJoystick#set_debounce_period(debounce) → nil¶

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

Sets the period with which the threshold callbacks

• ::CALLBACK_POSITION_REACHED,
• ::CALLBACK_ANALOG_VALUE_REACHED

are triggered, if the thresholds

• #set_position_callback_threshold,
• #set_analog_value_callback_threshold

keep being reached.

BrickletJoystick#get_debounce_period → int¶

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

Returns the debounce period as set by #set_debounce_period.

Callbacks¶

Callbacks can be registered to receive time critical or recurring data from the device. The registration is done with the #register_callback function of the device object. The first parameter is the callback ID and the second parameter is a block:

joystick.register_callback BrickletJoystick::CALLBACK_EXAMPLE, do |param|
  puts "#{param}"
end

The available constants with inherent number and type of parameters are described below.

BrickletJoystick::CALLBACK_POSITION¶

Callback Parameters:	x – Type: int, Range: [-100 to 100] y – Type: int, Range: [-100 to 100]

This callback is triggered periodically with the period that is set by #set_position_callback_period. The parameter is the position of the joystick.

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

BrickletJoystick::CALLBACK_ANALOG_VALUE¶

Callback Parameters:	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 #set_analog_value_callback_period. The parameters are the analog values of the joystick.

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

BrickletJoystick::CALLBACK_POSITION_REACHED¶

Callback Parameters:	x – Type: int, Range: [-100 to 100] y – Type: int, Range: [-100 to 100]

This callback is triggered when the threshold as set by #set_position_callback_threshold 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 #set_debounce_period.

BrickletJoystick::CALLBACK_ANALOG_VALUE_REACHED¶

Callback Parameters:	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 #set_analog_value_callback_threshold 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 #set_debounce_period.

BrickletJoystick::CALLBACK_PRESSED¶

Callback Parameters:	no parameters

This callback is triggered when the button is pressed.

BrickletJoystick::CALLBACK_RELEASED¶

Callback Parameters:	no parameters

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.

BrickletJoystick#get_api_version → [int, ...]¶

Return Array:	0: api_version – Type: [int, ...], Length: 3 0: major – Type: int, Range: [0 to 255] 1: minor – Type: int, Range: [0 to 255] 2: revision – Type: int, 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.

BrickletJoystick#get_response_expected(function_id) → bool¶

Parameters:	function_id – Type: int, Range: See constants
Returns:	response_expected – 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 #set_response_expected. 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 function_id:

• 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

BrickletJoystick#set_response_expected(function_id, response_expected) → nil¶

Parameters:	function_id – Type: int, Range: See constants response_expected – 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.

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 function_id:

• 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

BrickletJoystick#set_response_expected_all(response_expected) → nil¶

Parameters:	response_expected – Type: bool

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

Constants¶

BrickletJoystick::DEVICE_IDENTIFIER¶

This constant is used to identify a Joystick Bricklet.

The #get_identity() function and the IPConnection::CALLBACK_ENUMERATE callback of the IP Connection have a device_identifier parameter to specify the Brick's or Bricklet's type.

BrickletJoystick::DEVICE_DISPLAY_NAME¶

This constant represents the human readable name of a Joystick Bricklet.