The Robot system can be controlled by Rich-middle ware (a.k.a. ROS). System verification perspective, In system verification stage, we should provide minimum test script. This page shows how to control OMG-01 by Game Controller.

• Structure

• Game Controller

  Game Controller is used for controlling method. Bluetooth is key-technology, however it’s affordable.

  You can use your favorite Game Controller. However it’s depend on RasPi distribution. Honestly, I have tried several controllers. I confirmed above as well.

• python script

  For GameController read by event-lib. Read controller stick value (0-255), multiplied factors for quantization from 0-1023, then transmit to Groovy-PID by PySerial

  python script for Groovy-PID by GameController

  Python

  import requests from evdev import InputDevice, categorize, ecodes import serial from time import sleep motor_speedL = 0 motor_speedR = 0 #creates object gamepad gamepad = InputDevice('/dev/input/event0') #prints out device info at start print(gamepad) ser = serial.Serial('/dev/ttyACM0', 57600, timeout=1) print (ser) #display codes for event in gamepad.read_loop(): #Buttons if event.type == ecodes.EV_KEY: print(event) #Analog gamepad 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_Y': jLeft = absevent.event.value motor_speedL = (jLeft - 128) * 8 if (motor_speedL < -1023): motor_speedL = -1023 elif ecodes.bytype[absevent.event.type][absevent.event.code] == 'ABS_RZ': jRight = absevent.event.value motor_speedR = -(jRight - 128) * 8 if (motor_speedR > 1023): motor_speedR = 1023 motorSpeed = ('s 2 %d %d\r\n' % (motor_speedL, motor_speedR)) sleep(0.01) ser.write(motorSpeed) print (motorSpeed) print("End script")

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  import requests from evdev import InputDevice, categorize, ecodes   import serial from time import sleep   motor_speedL = 0 motor_speedR = 0   #creates object gamepad gamepad = InputDevice('/dev/input/event0')   #prints out device info at start print(gamepad)   ser = serial.Serial('/dev/ttyACM0', 57600, timeout=1) print (ser)   #display codes for event in gamepad.read_loop():     #Buttons     if event.type == ecodes.EV_KEY:         print(event)       #Analog gamepad     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_Y':             jLeft = absevent.event.value             motor_speedL = (jLeft - 128) * 8             if (motor_speedL < -1023):                 motor_speedL = -1023              elif ecodes.bytype[absevent.event.type][absevent.event.code] == 'ABS_RZ':             jRight = absevent.event.value             motor_speedR = -(jRight - 128) * 8             if (motor_speedR > 1023):                 motor_speedR = 1023             motorSpeed = ('s 2 %d %d\r\n' % (motor_speedL, motor_speedR))         sleep(0.01)         ser.write(motorSpeed)         print (motorSpeed)   print("End script")