Using a Gamepad

Using Gamepads

While our robot is able to do a lot autonomously, more often than not we need to input commands using our connected gamepad. There is a large variety of gamepads that could be used with the Driver Hub. For this tutorial we will be focusing on a generic PS4 controller, such as the Etpark Wired Controller or a Logitech controller.

To initialize the gamepad that will act as User 1 (gamepad1, in code) press the options button and the Cross/A button on the gamepad at the same time. To initialize User 2 ( gamepad2, in code) press the options button and the Circle/B button at the same time.

All buttons on a gamepad can be programmed to a specific task or behavior. Let's take a look at the breakdown of each button, their associated block name, and the type of data they output:

PS4 Controllers

Generic USB Gamepad

Blocks

Data Type

Cross

a

Boolean

Circle

b

Boolean

Triangle

y

Boolean

Square

x

Boolean

Dpad Up

Dpad Up

Boolean

Dpad Down

Dpad Down

Boolean

Dpad Left

Dpad Left

Boolean

Dpad Right

Dpad Right

Boolean

Left Bumper

Left Bumper

Boolean

Right Bumper

Right Bumper

Boolean

Left Trigger

Left Trigger

Float

Right Trigger

Right Trigger

Float

PS

Home

Boolean

Options

Start/Options

Boolean

Share

Back/Share

Boolean

Left Stick Button

Left Stick Button

Boolean

Left Stick X Axis

Left Stick X Axis

Float

Left Stick Y Axis

Left Stick Y Axis

Float

Right Stick Button

Right Stick Button

Boolean

Right Stick X Axis

Right Stick X Axis

Float

Right Stick Y Axis

Right Stick Y Axis

Float

Boolean vs Float Data Types

The gamepad outputs two types of data back to the Control Hub to be used within the program:

Boolean

Boolean data has two possible values: True and False. These two values can also be represented by On and Off or 1 and 0.

The buttons, bumpers, and triggers on the gamepad provide boolean data to our robot! For example, a button that is not pressed will return a value of False (or 0) and a button that is pressed will return the value True (or 1).

Float

Float data is a number that can include decimal places and positive or negative values.

On the gamepad, the float data returned will be between 1 and -1 for the joystick's position on each axis. Some examples of possible values are 0.44, 0, -0.29, or -1.

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