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Set sensor_msg::msg::joy to interface. Then you can access any button state via the interface.
voidExample::onJoyCallback(sensor_msgs::msg::Joy::ConstSharedPtr joy_msg) {
ps_interface->setJoyMsg(joy_msg); // set joy message to interface// When Circle Button Pressed..if(ps_interface->pressedCircle()) {
// You can hook action here
...
Buttons and Interface functions.
Target
Type
Function Name
Description
Any
bool
pressedAny();
Return true when pressed
□
bool
pressedSquare();
○
bool
pressedCircle();
□
bool
pressedTriangle();
☓
bool
pressedCross();
L1
bool
pressedL1();
R1
bool
pressedR1();
R2
bool
pressedR2();
pressedR2Analog() also returns the button status with float
L2
bool
pressedL2();
pressedL2Analog() also returns the button status with float
Select
bool
pressedSelect();
Start
bool
pressedStart();
PS
bool
pressedPS();
DPad ↑
bool
pressedDPadUp();
pressedDPadY() also returns the button status with float
DPad ↓
bool
pressedDPadDown();
pressedDPadY() also returns the button status with float
DPad ←
bool
pressedDPadLeft();
pressedDPadX() also returns the button status with float
DPad →
bool
pressedDPadRight();
pressedDPadX() also returns the button status with float
DPad ← →
float
pressedDPadX();
-1.0 : Right, 1.0 : Left
DPad ↑ ↓
float
pressedDPadY();
-1.0 : Down, 1.0 : Up
Left Stick ← →
float
tiltedStickLX();
-1.0 : Right, 1.0 : Left
Left Stick ↑ ↓
float
tiltedStickLY();
-1.0 : Down, 1.0 : Up
Left Stick
bool
isTiltedL();
Return true when L stick is tilted
Right Stick ← →
float
tiltedStickRX();
-1.0 : Right, 1.0 : Left
Right Stick ↑ ↓
float
tiltedStickRY();
-1.0 : Down, 1.0 : Up
Right Stick
bool
tiltedStickRY();
Return true when R stick is tiled
R2
float
pressedR2Analog();
-1.0 : Pressed, 1.0 : Not pressed
L2
float
pressedL2Analog();
-1.0 : Pressed, 1.0 : Not pressed
Acknowledgements
We acknowledge attribute and gratitude to the following resources in creating this package.
