Find referenced value of multiple columns - sql

Question

I have a table Setpoints which contains 3 columns Base,Effective and Actual which contains an id that refers to the item found in io.
I would like to make a query that will return the io_value found in the io table for the id found in Setpoints.
Currently my query will return multiple id's and then I query the io table to find the io_value for each id.
Ex Query returning the ID's in the row
row # | base | effective | actual
1 | 24 | 30 | 40
2 | 25 | 31 | 41
3 | 26 | 32 | 42
But i want it return the value instead of the id
Ex returning the value for the id's instead
row # | base | effective | actual
1 | 2.3 | 4.5 | 3.44
2 | 4.2 | 7.7 | 4.41
3 | 3.9 | 8.12 | 5.42
Here are the table fields
IO
io_value
io_id
Setpoints
stpt_base
stpt_effective
stpt_actual
Using postgres 9.5
What Im using now
SELECT * from setpoints
For each row
SELECT io_id, io_value
from io
where io_id in
(stpt_effective, stpt_actual, stpt_base);
// these are from previous query

Answer 1

You can solve this by joining the io table three times to the setpoints table, using the three columns in each individual JOIN:
SELECT a.io_value AS base,
b.io_value AS effective,
c.io_value AS actual
FROM setpoints s
JOIN io a ON a.io_id = s.stpt_base
JOIN io b ON b.io_id = s.stpt_effective
JOIN io c ON c.io_id = s.stpt_actual;