projetsdiy · December 21, 2017 09:45 · Dec 21, 2017
diff --git a/rot2u 6dof websocket espduino esp8266 gamepad b/rot2u 6dof websocket espduino esp8266 gamepad
@@ -0,0 +1,146 @@
+# WebSocket Client to drive Arduino Robotic kit (ROT2U 6DOF) with a Gamepad and a Raspberry Pi 3
+# Client webSocket permettant de piloter un bras robotique (kit ROT2U 6DOF) avec un Gamepad depuis un Raspberry Pi 3
+# https://projetsdiy.fr - https://diyprojects.io - dev. 2017
+# 
+from ws4py.client.threadedclient import WebSocketClient
+import time, requests
+from evdev import InputDevice, categorize, ecodes
+from threading import Thread
+
+# Adresse du serveur WebSocket sur ESP8266 | WekSocket address on ESP8266
+esp8266host = "ws://192.168.1.65:81/"
+
+# cree un objet 'gamepad' attache au port USB | creates object 'gamepad' to store the data
+# executer ls /dev/input pour cidentifier le port USB | execute the command ls /dev/input in a Terminal to find usb port
+gamepad = InputDevice('/dev/input/event3')
+
+# Gamepad connecte | prints out device info at start
+print("Gamepad: ",gamepad)
+
+# Variables globales permettant d actualiser la requete HTTP | Global variables to update HTTP thread
+servo       = ""
+direction   = ""
+send        = False
+httpFreq    = .05
+
+aBtn = 289
+bBtn = 290
+xBtn = 288
+yBtn = 291
+lBtn = 292
+rBtn = 293
+selBtn = 296
+staBtn = 297
+
+class DummyClient(WebSocketClient):
+    def opened(self):
+        t1 = Thread(target=sendRequest)
+        t1.daemon = True
+        t1.start()
+        print("Start Websocket thread")
+    def closed(self, code, reason=None):
+        print "Connexion closed down", code, reason
+
+    def received_message(self, m):
+        print m
+
+# Websocket request thread
+def sendRequest():
+  global servo
+  global direction
+  global send
+
+  #while not ws.closed:
+  while True:
+    # Un seul servo a la fois pour le moment | Only one servo in the version
+    payload = servo+":"+direction
+    if send:
+      ws.send(payload)
+      time.sleep(httpFreq)
+
+if __name__ == '__main__':
+    try:
+        ws = DummyClient(esp8266host, protocols=['http-only', 'chat'])
+        ws.connect()
+        print("Ready !")
+
+        #evdev takes care of polling the controller in a loop
+        for event in gamepad.read_loop():
+            print("Event: ",categorize(event)," |value: ",event.value)
+            if event.type == ecodes.EV_KEY:
+                print("button is pressed",categorize(event))
+                if event.value == 1:
+                    if event.code == xBtn:
+                        servo = "servo2"
+                        direction = "up"
+                        send = True
+                        print("X")
+                    elif event.code == bBtn:
+                        servo = "servo2"
+                        direction = "down"
+                        send = True
+                        print("B")
+                    elif event.code == aBtn:
+                        servo = "servo3"
+                        direction = "up"
+                        send = True
+                        print("A")
+                    elif event.code == yBtn:
+                        servo = "servo3"
+                        direction = "down"
+                        send = True
+                        print("Y")
+                    elif event.code == lBtn:
+                        servo = "servo4"
+                        direction = "up"
+                        send = True
+                        print("LEFT BTN")
+                    elif event.code == rBtn:
+                        servo = "servo4"
+                        direction = "down"
+                        send = True
+                        print("RIGHT BT")
+                    elif event.code == selBtn:
+                        servo = "servo5"
+                        direction = "open"
+                        send = True
+                        print("Select BTN")
+                    elif event.code == staBtn:
+                        servo = "servo5"
+                        direction = "close"
+                        send = True
+                        print("Start BTN")
+                elif event.value == 0:
+                  send = False
+            elif event.type == ecodes.EV_ABS:
+                absevent = categorize(event)
+                print ecodes.bytype[absevent.event.type][absevent.event.code], absevent.event.value
+                if ecodes.bytype[absevent.event.type][absevent.event.code] == "ABS_X":
+                     if absevent.event.value == 0:
+                        servo = "servo0"
+                        direction = "left"
+                        send = True
+                        print("Left")
+                     elif absevent.event.value == 255:
+                        servo = "servo0"
+                        direction = "right"
+                        send = True
+                        print("Right")
+                     elif absevent.event.value == 127:
+                        send = False
+
+                elif ecodes.bytype[absevent.event.type][absevent.event.code] == "ABS_Y":
+                     if absevent.event.value == 0:
+                        servo = "servo1"
+                        direction = "up"
+                        send = True
+                        print("Up")
+                     elif absevent.event.value == 255:
+                        servo = "servo1"
+                        direction = "down"
+                        send = True
+                        print("Down")
+                     elif absevent.event.value == 127:
+                        send = False
+    except KeyboardInterrupt:
+        ws.close()