north_c9.joysticks

class north_c9.joysticks.N9Joystick(controller: north_c9.controller.C9Controller, velocity: int = 40000, acceleration: int = 100000, moving: bool = False, ignore_missing_joystick: bool = False, z_offset: float = 170.0, use_thread: bool = True, joystick_names: List[str] = ['Wireless Controller', 'PS4 Controller'])

Bases: north_utils.mixins.Runnable

Allows the North Robotics C9 to be controlled with a joystick. The C9Controller class creates an N9Joystick instance that can be used to capture positions and control the N9. It can be started with:

>>> from north_c9.controller import C9Controller

>>> c9 = C9Controller()

>>> c9.joystick.start_moving()

COLUMN_AXIS = 3

ELBOW_AXIS = 1

GRIPPER_AXIS = 0

GRIPPER_OUTPUT = 0

PROBE_OUTPUT = 1

SHOULDER_AXIS = 2

X_AXIS = 1

Y_AXIS = 2

Z_AXIS = 3

axis_value(value: float) → float

static find_joystick_name(names: List[str]) → str

get_current_position()

mappings = {0: <function N9Joystick.on_x_axis>, 1: <function N9Joystick.on_y_axis>, 3: <function N9Joystick.on_z_axis>, 4: <function N9Joystick.on_gripper_right_axis>, 5: <function N9Joystick.on_gripper_left_axis>, 150: <function N9Joystick.on_precise_x_axis_map>, 151: <function N9Joystick.on_precise_y_axis_map>, 200: <function N9Joystick.on_probe_toggle_button>, 201: <function N9Joystick.on_gripper_toggle_button>, 202: <function N9Joystick.on_spin_gripper_button>, 203: <function N9Joystick.on_elbow_swap_button>, 204: <function N9Joystick.on_slow_speed_button>, 205: <function N9Joystick.on_high_speed_button>, 208: <function N9Joystick.on_playback_mode_button>, 209: <function N9Joystick.on_record_button>, 212: <function N9Joystick.on_stop_button>, 213: <function N9Joystick.on_gripper_mode_button>}

on_elbow_swap_button(pressed: bool)

on_gripper_left_axis(value: float)

on_gripper_mode_button(pressed: bool)

on_gripper_precise_axis(value: float)

on_gripper_right_axis(value: float)

on_gripper_toggle_button(pressed: bool)

on_high_speed_button(pressed: bool)

on_playback_mode_button(pressed: bool)

on_precise_x_axis_map(value: float)

on_precise_y_axis_map(value: float)

on_probe_toggle_button(pressed: bool)

on_record_button(pressed: bool)

on_slow_speed_button(pressed: bool)

on_spin_gripper_button(pressed: bool)

on_stop_button(pressed: bool)

on_x_axis(value: float)

on_x_precise_axis(value: float)

on_y_axis(value: float)

on_y_precise_axis(value: float)

on_z_axis(value: float)

on_z_precise_axis(value: float)

record_position(message: str, use_probe: bool = False) → north_utils.location.Vector3

record_position_vector(message: str, use_probe: bool = False) → north_utils.location.Vector3

record_z(message, offset=None, use_probe: bool = False)

record_z_offset(message: str = 'Drive the robot until the laser is focused to a point on the deck and press Record / Start', use_probe: bool = False)

run()

start()

start_moving(pause_main_controller: bool = False)

stop()

stop_driving()

stop_moving()

tick()

update_current_position()

wrap_handler(handler)

exception north_c9.joysticks.N9JoystickError

Bases: Exception