Modbus - Joystick Bricklet – Tinkerforge

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# Modbus - Joystick Bricklet

This is the description of the Modbus protocol for the Joystick Bricklet. General information and technical specifications for the Joystick Bricklet are summarized in its hardware description.

## API

A general description of the Modbus protocol structure can be found here.

### Basic Functions

`BrickletJoystick.``get_position`

  Function ID: | 1
  Request: | empty payload

  Response:

  - x -- int16
  - y -- int16

  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 `CALLBACK_POSITION` and set the period with `set_position_callback_period`.

`BrickletJoystick.``is_pressed`

  Function ID: | 2
  Request: | empty payload

  Response:

  - pressed -- 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`

  Function ID: | 3
  Request: | empty payload

  Response:

  - x -- uint16
  - y -- uint16

  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 `CALLBACK_ANALOG_VALUE` and set the period with `set_analog_value_callback_period`.

`BrickletJoystick.``calibrate`

  Function ID: | 4
  Request: | empty payload
  Response: | no response

  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`

  Function ID: | 255
  Request: | empty payload

  Response:

  - uid -- char[8]
  - connected_uid -- char[8]
  - position -- char
  - hardware_version -- uint8[3]
  - firmware_version -- uint8[3]
  - device_identifier -- uint16

  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

`BrickletJoystick.``set_position_callback_period`

  Function ID: | 5

  Request:

  - period -- uint32

  Response: | no response

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

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

  The default value is 0.

`BrickletJoystick.``get_position_callback_period`

  Function ID: | 6
  Request: | empty payload

  Response:

  - period -- uint32

  Returns the period as set by `set_position_callback_period`.

`BrickletJoystick.``set_analog_value_callback_period`

  Function ID: | 7

  Request:

  - period -- uint32

  Response: | no response

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

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

  The default value is 0.

`BrickletJoystick.``get_analog_value_callback_period`

  Function ID: | 8
  Request: | empty payload

  Response:

  - period -- uint32

  Returns the period as set by `set_analog_value_callback_period`.

`BrickletJoystick.``set_position_callback_threshold`

  Function ID: | 9

  Request:

  - option -- char
  - min_x -- int16
  - max_x -- int16
  - min_y -- int16
  - max_y -- int16

  Response: | no response

  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 default value is ('x', 0, 0, 0, 0).

`BrickletJoystick.``get_position_callback_threshold`

  Function ID: | 10
  Request: | empty payload

  Response:

  - option -- char
  - min_x -- int16
  - max_x -- int16
  - min_y -- int16
  - max_y -- int16

  Returns the threshold as set by `set_position_callback_threshold`.

`BrickletJoystick.``set_analog_value_callback_threshold`

  Function ID: | 11

  Request:

  - option -- char
  - min_x -- uint16
  - max_x -- uint16
  - min_y -- uint16
  - max_y -- uint16

  Response: | no response

  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 default value is ('x', 0, 0, 0, 0).

`BrickletJoystick.``get_analog_value_callback_threshold`

  Function ID: | 12
  Request: | empty payload

  Response:

  - option -- char
  - min_x -- uint16
  - max_x -- uint16
  - min_y -- uint16
  - max_y -- uint16

  Returns the threshold as set by `set_analog_value_callback_threshold`.

`BrickletJoystick.``set_debounce_period`

  Function ID: | 13

  Request:

  - debounce -- uint32

  Response: | no response

  Sets the period in ms 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.

  The default value is 100.

`BrickletJoystick.``get_debounce_period`

  Function ID: | 14
  Request: | empty payload

  Response:

  - debounce -- uint32

  Returns the debounce period as set by `set_debounce_period`.

### Callbacks

`BrickletJoystick.``CALLBACK_POSITION`

  Function ID: | 15

  Response:

  - x -- int16
  - y -- int16

  This callback is triggered periodically with the period that is set by `set_position_callback_period`. The response value is the position of the Joystick.

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

`BrickletJoystick.``CALLBACK_ANALOG_VALUE`

  Function ID: | 16

  Response:

  - x -- uint16
  - y -- uint16

  This callback is triggered periodically with the period that is set by `set_analog_value_callback_period`. The response values are the analog values of the Joystick.

  `CALLBACK_ANALOG_VALUE` is only triggered if the values have changed since the last triggering.

`BrickletJoystick.``CALLBACK_POSITION_REACHED`

  Function ID: | 17

  Response:

  - x -- int16
  - y -- int16

  This callback is triggered when the threshold as set by `set_position_callback_threshold` is reached. The response values 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`

  Function ID: | 18

  Response:

  - x -- uint16
  - y -- uint16

  This callback is triggered when the threshold as set by `set_analog_value_callback_threshold` is reached. The response values 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`

  Function ID: | 19
  Response: | empty payload

  This callback is triggered when the button is pressed.

`BrickletJoystick.``CALLBACK_RELEASED`

  Function ID: | 20
  Response: | empty payload

  This callback is triggered when the button is released.

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