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joypi.py
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joypi.py
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import time
import signal
import pygame
import sys
import RPi.GPIO as GPIO
# The following is an example code written to controll the l298n motor contoller
GPIO.setmode(GPIO.BOARD)
GPIO.setup(11, GPIO.OUT) #input-1
GPIO.setup(12, GPIO.OUT) #input-2
GPIO.setup(15, GPIO.OUT) #input-3
GPIO.setup(16, GPIO.OUT) #input-4
GPIO.setup(7, GPIO.IN) #Front Left
GPIO.setup(8, GPIO.IN) #Front Center
GPIO.setup(10, GPIO.IN) #Front Right
GPIO.setup(23, GPIO.IN) #Back Left
GPIO.setup(24, GPIO.IN) #Back Center
GPIO.setup(26, GPIO.IN) #Back Right
GPIO.setup(18, GPIO.OUT) #Status-LED
pygame.init()
done = False
# Initialize the joysticks
pygame.joystick.init()
################ Movement Definitions BEGIN #######################
def forward_left():
print "FL"
GPIO.output(11, False)
GPIO.output(12, False)
GPIO.output(16, True)
GPIO.output(15, False)
def forward_right():
print "FR"
GPIO.output(11, True)
GPIO.output(12, False)
GPIO.output(16, False)
GPIO.output(15, False)
def backward_left():
print "BL"
GPIO.output(11, False)
GPIO.output(12, False)
GPIO.output(16, False)
GPIO.output(15, True)
def backward_right():
print "BR"
GPIO.output(11, False)
GPIO.output(12, True)
GPIO.output(16, False)
GPIO.output(15, False)
def forward():
print "F"
GPIO.output(11, True)
GPIO.output(12, False)
GPIO.output(16, True)
GPIO.output(15, False)
def backward():
print "B"
GPIO.output(11, False)
GPIO.output(12, True)
GPIO.output(16, False)
GPIO.output(15, True)
def left():
print "L"
GPIO.output(11, False)
GPIO.output(12, True)
GPIO.output(16, True)
GPIO.output(15, False)
def right():
print "R"
GPIO.output(11, True)
GPIO.output(12, False)
GPIO.output(16, False)
GPIO.output(15, True)
def nutral():
print "N"
GPIO.output(11, False)
GPIO.output(12, False)
GPIO.output(16, False)
GPIO.output(15, False)
########################## Movement Definitions END ########################
GPIO.output(18, True) #Status-LED-On
def sigint_handler(signum, frame): #Catching Ctrl+c
GPIO.output(18, False) #Status-LED-Off
pygame.quit()
sys.exit(0)
signal.signal(signal.SIGINT, sigint_handler)
# -------- Main Program Loop -----------
while done==False:
# EVENT PROCESSING STEP
for event in pygame.event.get(): # User did something
if event.type == pygame.QUIT: # If user clicked close
GPIO.output(18, False) #Status-LED-Off
done=True # Flag that we are done so we exit this loop
# Possible joystick actions: JOYAXISMOTION JOYBALLMOTION JOYBUTTONDOWN JOYBUTTONUP JOYHATMOTION
if event.type == pygame.JOYBUTTONDOWN:
print ("Joystick button pressed.")
if event.type == pygame.JOYBUTTONUP:
print ("Joystick button released.")
joystick_count = pygame.joystick.get_count() #Get Joystick Count
if joystick_count == 0:
GPIO.output(18, False) #Status-LED-Off
# For each joystick:
for i in range(joystick_count):
joystick = pygame.joystick.Joystick(i)
joystick.init()
#Sensor Input
fl = GPIO.input(7)
fc = GPIO.input(8)
fr = GPIO.input(10)
bl = GPIO.input(23)
bc = GPIO.input(24)
br = GPIO.input(26)
#Start Writing Yout Code From Here
if ((fc == 1 or fr == 1 or fl == 1) and (bc == 1 or br == 1 or bl == 1)):
if (joystick.get_axis(0) < -0.5): #Left
left()
elif (joystick.get_axis(0) > 0.5): #Right
right()
else:
nutral()
else:
if (fc == 1): #forward_sensor blocked
if (joystick.get_axis(1) > 0.5 and joystick.get_axis(0) < -0.5): #Backward_Left
backward_left()
elif (joystick.get_axis(1) > 0.5 and joystick.get_axis(0) > 0.5): #Backward_Right
backward_right()
elif (joystick.get_axis(1) < -0.5): #Forward
nutral()
elif (joystick.get_axis(1) > 0.5): #backward
backward()
elif (joystick.get_axis(0) < -0.5): #Left
left()
elif (joystick.get_axis(0) > 0.5): #Right
right()
else:
nutral()
elif (bc == 1):
if (joystick.get_axis(1) < -0.5 and joystick.get_axis(0) < -0.5): #Forward_Left
forward_left()
elif (joystick.get_axis(1) < -0.5 and joystick.get_axis(0) > 0.5): #Forward_Right
forward_right()
elif (joystick.get_axis(1) < -0.5): #Forward
forward()
elif (joystick.get_axis(1) > 0.5): #backward
nutral()
elif (joystick.get_axis(0) < -0.5): #Left
left()
elif (joystick.get_axis(0) > 0.5): #Right
right()
else:
nutral()
elif (fl == 1): #forward_left sensor blocked
if (joystick.get_axis(1) < -0.5 and joystick.get_axis(0) < -0.5): #Forward_Left
nutral()
elif (joystick.get_axis(1) < -0.5 and joystick.get_axis(0) > 0.5): #Forward_Right
forward_right()
elif (joystick.get_axis(1) > 0.5 and joystick.get_axis(0) < -0.5): #Backward_Left
backward_left()
elif (joystick.get_axis(1) > 0.5 and joystick.get_axis(0) > 0.5): #Backward_Right
backward_right()
elif (joystick.get_axis(1) < -0.5): #Forward
nutral()
elif (joystick.get_axis(1) > 0.5): #backward
backward()
elif (joystick.get_axis(0) < -0.5): #Left
left()
elif (joystick.get_axis(0) > 0.5): #Right
right()
else:
nutral()
elif (fr == 1): #forward_right sensor blocked
if (joystick.get_axis(1) < -0.5 and joystick.get_axis(0) > 0.5): #Forward_Right
nutral()
elif (joystick.get_axis(1) < -0.5 and joystick.get_axis(0) < -0.5): #Forward_Left
forward_left()
elif (joystick.get_axis(1) > 0.5 and joystick.get_axis(0) < -0.5): #Backward_Left
backward_left()
elif (joystick.get_axis(1) > 0.5 and joystick.get_axis(0) > 0.5): #Backward_Right
backward_right()
elif (joystick.get_axis(1) < -0.5): #Forward
nutral()
elif (joystick.get_axis(1) > 0.5): #backward
backward()
elif (joystick.get_axis(0) < -0.5): #Left
left()
elif (joystick.get_axis(0) > 0.5): #Right
right()
else:
nutral()
elif (bl == 1):
if (joystick.get_axis(1) > 0.5 and joystick.get_axis(0) < -0.5): #Backward_Left
nutral()
elif (joystick.get_axis(1) < -0.5 and joystick.get_axis(0) < -0.5): #Forward_Left
forward_left()
elif (joystick.get_axis(1) < -0.5 and joystick.get_axis(0) > 0.5): #Forward_Right
forward_right()
elif (joystick.get_axis(1) > 0.5 and joystick.get_axis(0) > 0.5): #Backward_Right
backward_right()
elif (joystick.get_axis(1) < -0.5): #Forward
forward()
elif (joystick.get_axis(0) < -0.5): #Left
left()
elif (joystick.get_axis(0) > 0.5): #Right
right()
else:
nutral()
elif (br == 1):
if (joystick.get_axis(1) > 0.5 and joystick.get_axis(0) > 0.5): #Backward_Right
nutral()
elif (joystick.get_axis(1) < -0.5 and joystick.get_axis(0) < -0.5): #Forward_Left
forward_left()
elif (joystick.get_axis(1) < -0.5 and joystick.get_axis(0) > 0.5): #Forward_Right
forward_right()
elif (joystick.get_axis(1) > 0.5 and joystick.get_axis(0) < -0.5): #Backward_Left
backward_left()
elif (joystick.get_axis(1) < -0.5): #Forward
forward()
elif (joystick.get_axis(0) < -0.5): #Left
left()
elif (joystick.get_axis(0) > 0.5): #Right
right()
else:
nutral()
else: # All sensors free and also the controll flow for movement
if (joystick.get_axis(1) < -0.5 and joystick.get_axis(0) < -0.5): #Forward_Left
forward_left()
elif (joystick.get_axis(1) < -0.5 and joystick.get_axis(0) > 0.5): #Forward_Right
forward_right()
elif (joystick.get_axis(1) > 0.5 and joystick.get_axis(0) < -0.5): #Backward_Left
backward_left()
elif (joystick.get_axis(1) > 0.5 and joystick.get_axis(0) > 0.5): #Backward_Right
backward_right()
elif (joystick.get_axis(1) < -0.5): #Forward
forward()
elif (joystick.get_axis(1) > 0.5): #backward
backward()
elif (joystick.get_axis(0) < -0.5): #Left
left()
elif (joystick.get_axis(0) > 0.5): #Right
right()
else:
nutral()
time.sleep(0.01) #refresh rate
# ALL CODE SHOULD GO ABOVE THIS COMMENT
# Use Ctrl+C to quit.
# If you forget this line, the program will 'hang'
# on exit if running from IDLE.
pygame.quit ()