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The joystick interface is provided by the joydev.o module, and the outputs appear on the /dev/input/js0, /dev/input/js1 (and so on) device nodes.
More information on programming with the joystick interface is provided in the kernel distribution (see the file Documentation/input/joystick-api.txt in a current kernel).
Information on programming force feedback effects for joysticks is provided in the kernel distribution (see the file Documentation/input/ff.txt in a current kernel).
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