Controller

Introduction

The V5 Controller is represented by the controller class. You create a controller object and can access joystick input, button states, and screen functionality through its derived classes.

Derived Classes

The controller class provides the following derived classes:

• Axis — Provides access to joystick axis input values and change events.

• Button — Provides access to button state and button event callbacks.

• Screen — Provides functions for writing text to the controller screen.

Class Constructors

1 — Creates a controller using the primary controller type.
Typically used when a single controller is connected.

controller();

2 — Creates a controller for the specified controller type.
Used when two controllers are connected.

controller(
    controllerType id );

Class Destructor

~controller();

Parameters

Parameter	Type	Description
id	controllerType	The type of controller being created: primary — The primary controller connected to the Brain. partner — The partner (second) controller connected to the Brain.

Notes

• Only one primary and one partner controller may exist in a single project.

Example

// Create a V5 controller instance
controller Controller = controller();

Member Functions

The controller class includes the following member functions:

• rumble — Rumbles the controller using a pattern.

• installed — Checks whether the controller is connected to the brain.

rumble

Rumbles the controller by a pattern defined by the parameter. Dots equal short vibrations, dashes equal long vibrations, and spaces equal pauses.

Available Functions

void rumble(
    const char *str );

Parameters

Parameter	Type	Description
str	const char *	A string consisting of dots and dashes that represent the rumble pattern.

Return Values

This function does not return a value.

Examples

// Short-short-long pattern
Controller1.rumble("..-");

installed

Checks whether the controller is installed/connected.

Available Functions

bool installed();

Parameters

This function does not accept any parameters.

Return Values

Returns a Boolean indicating whether the controller is installed.

• true — The controller is installed/connected.
• false — The controller is not installed/connected.

Global Variables

When one or more controllers are configured in the Devices window, VEXcode V5 provides a global variable that controls the execution of controller-configured actions.

RemoteControlCodeEnabled

Enables or disables controller-configured actions defined in the Devices configuration.

Assignment

RemoteControlCodeEnabled = false;

Values

• true — Controller-configured actions are enabled.
• false — Controller-configured actions are disabled.

Notes

• Controller-configured actions are enabled by default.

Examples

// Drive forward or backward using the left joystick
RemoteControlCodeEnabled = false;

while (true) {
    if (Controller1.Axis3.position() > 0) {
        Drivetrain.drive(forward);
    } else if (Controller1.Axis3.position() < 0) {
        Drivetrain.drive(reverse);

    // Press A to use the controller configured actions
    } else if (Controller1.ButtonA.pressing()) {
        break;
    } else {
        Drivetrain.stop();
    }
    wait(20, msec);
}
RemoteControlCodeEnabled = true;