Shell - Joystick Bricklet – Tinkerforge

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# Shell - Joystick Bricklet

This is the description of the Shell 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 Shell API bindings is part of their general description.

## Examples

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

### Simple

Download (example-simple.sh)

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    #!/bin/sh
    # connects to localhost:4223 by default, use --host and --port to change it

    # change to your UID
    uid=XYZ

    # gt current position (x and y value)
    tinkerforge call joystick-bricklet $uid get-position

### Callback

Download (example-callback.sh)

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    #!/bin/sh
    # connects to localhost:4223 by default, use --host and --port to change it

    # change to your UID
    uid=XYZ

    # handle incoming pressed and released callbacks
    # note: this chaining of two dispatches assumes that a pressed callback is
    #       always followed by a released callback
    tinkerforge dispatch joystick-bricklet $uid pressed\
     --execute "echo Pressed;
                tinkerforge dispatch --duration exit-after-first joystick-bricklet $uid released\
                 --execute 'echo Released'"

### Find Corners

Download (example-find-corners.sh)

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    #!/bin/sh
    # connects to localhost:4223 by default, use --host and --port to change it

    # change to your UID
    uid=XYZ

    # get threshold callbacks with a debounce time of 0.2 seconds (200ms)
    tinkerforge call joystick-bricklet $uid set-debounce-period 200

    # configure threshold for "x or y value outside of [-99..99]"
    tinkerforge call joystick-bricklet $uid set-position-callback-threshold outside -99 99 -99 99

    # handle incoming position-reached callbacks
    tinkerforge dispatch joystick-bricklet $uid position-reached\
     --execute "if   [ {y} -eq 100 ];
                then echo Top;
                elif [ {y} -eq -100 ];
                then echo Bottom;
                fi;
                if   [ {x} -eq 100 ];
                then echo Right;
                elif [ {x} -eq -100 ];
                then echo Left;
                fi"

## API

Possible exit codes for all `tinkerforge` commands are:

- 1: interrupted (ctrl+c)
- 2: syntax error
- 21: Python 2.5 or newer is required
- 22: Python `argparse` module is missing
- 23: socket error
- 24: other exception
- 25: invalid placeholder in format string
- 26: authentication error
- 201: timeout occurred
- 209: invalid argument value
- 210: function is not supported
- 211: unknown error

### Command Structure

The common options of the `call` and `dispatch` commands are documented here. The specific command structure is shown below.

tinkerforge `call` `joystick-bricklet` [<option>..] <uid> <function> [<argument>..]

  Parameters:

  - <uid> -- string
  - <function> -- string

  The `call` command is used to call a function of the Joystick Bricklet. It can take several options:

  - `--help` shows help for the specific `call` command and exits
  - `--list-functions` shows a list of known functions of the Joystick Bricklet and exits

tinkerforge `dispatch` `joystick-bricklet` [<option>..] <uid> <callback>

  Parameters:

  - <uid> -- string
  - <callback> -- string

  The `dispatch` command is used to dispatch a callback of the Joystick Bricklet. It can take several options:

  - `--help` shows help for the specific `dispatch` command and exits
  - `--list-callbacks` shows a list of known callbacks of the Joystick Bricklet and exits

tinkerforge call `joystick-bricklet` <uid> `<function>` [<option>..] [<argument>..]

  Parameters:

  - <uid> -- string
  - <function> -- string

  The `<function>` to be called can take different options depending of its kind. All functions can take the following options:

  - `--help` shows help for the specific function and exits

  Getter functions can take the following options:

  - `--execute <command>` shell command line to execute for each incoming response (see section about output formatting for details)

  Setter functions can take the following options:

  - `--expect-response` requests response and waits for it

  The `--expect-response` option for setter functions allows to detect timeouts and other error conditions calls of setters as well. The device will then send a response for this purpose. If this option is not given for a setter function then no response is send and errors are silently ignored, because they cannot be detected.

tinkerforge dispatch `joystick-bricklet` <uid> `<callback>` [<option>..]

  Parameters:

  - <uid> -- string
  - <callback> -- string

  The `<callback>` to be dispatched can take several options:

  - `--help` shows help for the specific callback and exits
  - `--execute <command>` shell command line to execute for each incoming response (see section about output formatting for details)

### Basic Functions

tinkerforge call `joystick-bricklet` <uid> `get-position`

  Output:

  - x -- int
  - y -- int

  Returns the position of the Joystick. The value ranges between -100 and 100 for both axis. 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` and set the period with `set-position-callback-period`.

tinkerforge call `joystick-bricklet` <uid> `is-pressed`

  Output:

  - pressed -- bool

  Returns true if the button is pressed and false otherwise.

  It is recommended to use the `pressed` and `released` callbacks to handle the button.

### Advanced Functions

tinkerforge call `joystick-bricklet` <uid> `get-analog-value`

  Output:

  - x -- int
  - y -- int

  Returns the values as read by a 12-bit analog-to-digital converter. The values are between 0 and 4095 for both axis.

  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` and set the period with `set-analog-value-callback-period`.

tinkerforge call `joystick-bricklet` <uid> `calibrate`

  Output: | no output

  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.

tinkerforge call `joystick-bricklet` <uid> `get-identity`

  Output:

  - uid -- string
  - connected-uid -- string
  - position -- char
  - hardware-version -- int,int,int
  - firmware-version -- int,int,int
  - device-identifier -- int (has symbols)

  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' or 'd'.

  The device identifier numbers can be found here.

### Callback Configuration Functions

tinkerforge call `joystick-bricklet` <uid> `set-position-callback-period` <period>

  Parameters:

  - <period> -- int

  Output: | no output

  Sets the period in ms with which the `position` callback is triggered periodically. A value of 0 turns the callback off.

  `position` is only triggered if the position has changed since the last triggering.

  The default value is 0.

tinkerforge call `joystick-bricklet` <uid> `get-position-callback-period`

  Output:

  - period -- int

  Returns the period as set by `set-position-callback-period`.

tinkerforge call `joystick-bricklet` <uid> `set-analog-value-callback-period` <period>

  Parameters:

  - <period> -- int

  Output: | no output

  Sets the period in ms with which the `analog-value` callback is triggered periodically. A value of 0 turns the callback off.

  `analog-value` is only triggered if the analog values have changed since the last triggering.

  The default value is 0.

tinkerforge call `joystick-bricklet` <uid> `get-analog-value-callback-period`

  Output:

  - period -- int

  Returns the period as set by `set-analog-value-callback-period`.

tinkerforge call `joystick-bricklet` <uid> `set-position-callback-threshold` <option> <min-x> <max-x> <min-y> <max-y>

  Parameters:

  - <option> -- char (has symbols)
  - <min-x> -- int
  - <max-x> -- int
  - <min-y> -- int
  - <max-y> -- int

  Output: | no output

  Sets the thresholds for the `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 default value is ('x', 0, 0, 0, 0).

  The following symbols are available for this function:

  - `off` = x, for <option>
  - `outside` = o, for <option>
  - `inside` = i, for <option>
  - `smaller` = <, for <option>
  - `greater` = >, for <option>

tinkerforge call `joystick-bricklet` <uid> `get-position-callback-threshold`

  Output:

  - option -- char (has symbols)
  - min-x -- int
  - max-x -- int
  - min-y -- int
  - max-y -- int

  Returns the threshold as set by `set-position-callback-threshold`.

  The following symbols are available for this function:

  - `off` = x, for option
  - `outside` = o, for option
  - `inside` = i, for option
  - `smaller` = <, for option
  - `greater` = >, for option

tinkerforge call `joystick-bricklet` <uid> `set-analog-value-callback-threshold` <option> <min-x> <max-x> <min-y> <max-y>

  Parameters:

  - <option> -- char (has symbols)
  - <min-x> -- int
  - <max-x> -- int
  - <min-y> -- int
  - <max-y> -- int

  Output: | no output

  Sets the thresholds for the `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 default value is ('x', 0, 0, 0, 0).

  The following symbols are available for this function:

  - `off` = x, for <option>
  - `outside` = o, for <option>
  - `inside` = i, for <option>
  - `smaller` = <, for <option>
  - `greater` = >, for <option>

tinkerforge call `joystick-bricklet` <uid> `get-analog-value-callback-threshold`

  Output:

  - option -- char (has symbols)
  - min-x -- int
  - max-x -- int
  - min-y -- int
  - max-y -- int

  Returns the threshold as set by `set-analog-value-callback-threshold`.

  The following symbols are available for this function:

  - `off` = x, for option
  - `outside` = o, for option
  - `inside` = i, for option
  - `smaller` = <, for option
  - `greater` = >, for option

tinkerforge call `joystick-bricklet` <uid> `set-debounce-period` <debounce>

  Parameters:

  - <debounce> -- int

  Output: | no output

  Sets the period in ms with which the threshold callbacks

  - `position-reached`,
  - `analog-value-reached`

  are triggered, if the thresholds

  - `set-position-callback-threshold`,
  - `set-analog-value-callback-threshold`

  keep being reached.

  The default value is 100.

tinkerforge call `joystick-bricklet` <uid> `get-debounce-period`

  Output:

  - debounce -- int

  Returns the debounce period as set by `set-debounce-period`.

### Callbacks

Callbacks can be used to receive time critical or recurring data from the device:

    tinkerforge dispatch joystick-bricklet <uid> example

The available callbacks 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.

tinkerforge dispatch `joystick-bricklet` <uid> `position`

  Output:

  - x -- int
  - y -- int

  This callback is triggered periodically with the period that is set by `set-position-callback-period`. The parameter is the position of the Joystick.

  `position` is only triggered if the position has changed since the last triggering.

tinkerforge dispatch `joystick-bricklet` <uid> `analog-value`

  Output:

  - x -- int
  - y -- int

  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.

  `analog-value` is only triggered if the values have changed since the last triggering.

tinkerforge dispatch `joystick-bricklet` <uid> `position-reached`

  Output:

  - x -- int
  - y -- int

  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`.

tinkerforge dispatch `joystick-bricklet` <uid> `analog-value-reached`

  Output:

  - x -- int
  - y -- int

  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`.

tinkerforge dispatch `joystick-bricklet` <uid> `pressed`

  Output: | no output

  This callback is triggered when the button is pressed.

tinkerforge dispatch `joystick-bricklet` <uid> `released`

  Output: | no output

  This callback is triggered when the button is released.

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