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multijoystick.py
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multijoystick.py
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#!/usr/bin/env python
################################################################
# Module: multijoystick.py
# Created: 2 April 2008
# Author: Brian D. Wendt
# http://principialabs.com/
# Version: 0.2
# License: GPLv3
# http://www.fsf.org/licensing/
'''
Provides four-axis joystick servo control from a PC
using the Arduino "MultipleServos" sketch
and the Python "servo.py" serial abstraction module.
Parts of this code were adapted from:
http://svn.lee.org/swarm/trunk/mothernode/python/multijoy.py
NOTE: This script requires the following Python modules:
pyserial - http://pyserial.sourceforge.net/
pygame - http://www.pygame.org/
servo - http://principialabs.com/
Win32 users may also need:
pywin32 - http://sourceforge.net/projects/pywin32/
'''
################################################################
import servo
import pygame
# allow multiple joysticks
joy = []
# handle joystick event
def handleJoyEvent(e):
if e.type == pygame.JOYAXISMOTION:
axis = "unknown"
if (e.dict['axis'] == 0):
axis = "X"
if (e.dict['axis'] == 1):
axis = "Y"
if (e.dict['axis'] == 2):
axis = "Throttle"
if (e.dict['axis'] == 3):
axis = "Z"
if (axis != "unknown"):
str = "Axis: %s; Value: %f" % (axis, e.dict['value'])
# uncomment to debug
#output(str, e.dict['joy'])
# Arduino joystick-servo hack
if (axis == "X"):
pos = e.dict['value']
# convert joystick position to servo increment, 0-180
move = round(pos * 90, 0)
serv = int(90 + move)
# and send to Arduino over serial connection
servo.move(1, serv)
# Arduino joystick-servo hack
if (axis == "Y"):
pos = e.dict['value']
# convert joystick position to servo increment, 0-180
move = round(pos * 90, 0)
serv = int(90 + move)
# and send to Arduino over serial connection
servo.move(2, serv)
# Arduino joystick-servo hack
if (axis == "Z"):
pos = e.dict['value']
# convert joystick position to servo increment, 0-180
move = round(pos * 90, 0)
serv = int(90 + move)
# and send to Arduino over serial connection
servo.move(3, serv)
# Arduino joystick-servo hack
if (axis == "Throttle"):
pos = e.dict['value']
# convert joystick position to servo increment, 0-180
move = round(pos * 90, 0)
serv = int(90 + move)
# and send to Arduino over serial connection
servo.move(4, serv)
elif e.type == pygame.JOYBUTTONDOWN:
str = "Button: %d" % (e.dict['button'])
# uncomment to debug
#output(str, e.dict['joy'])
# Button 0 (trigger) to quit
if (e.dict['button'] == 0):
print "Bye!\n"
quit()
else:
pass
# print the joystick position
def output(line, stick):
print "Joystick: %d; %s" % (stick, line)
# wait for joystick input
def joystickControl():
while True:
e = pygame.event.wait()
if (e.type == pygame.JOYAXISMOTION or e.type == pygame.JOYBUTTONDOWN):
handleJoyEvent(e)
# main method
def main():
# initialize pygame
pygame.joystick.init()
pygame.display.init()
if not pygame.joystick.get_count():
print "\nPlease connect a joystick and run again.\n"
quit()
print "\n%d joystick(s) detected." % pygame.joystick.get_count()
for i in range(pygame.joystick.get_count()):
myjoy = pygame.joystick.Joystick(i)
myjoy.init()
joy.append(myjoy)
print "Joystick %d: " % (i) + joy[i].get_name()
print "Depress trigger (button 0) to quit.\n"
# run joystick listener loop
joystickControl()
# allow use as a module or standalone script
if __name__ == "__main__":
main()