├── README.md
├── install.sh
├── joystick.py
└── joystick.service


/README.md:
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 1 | # PupperCommand
 2 | ## Installation
 3 | ```shell
 4 | git clone https://github.com/stanfordroboticsclub/PupperCommand.git
 5 | cd PupperCommand
 6 | sudo bash install.sh
 7 | ```
 8 | Then clone https://github.com/stanfordroboticsclub/PS4Joystick/ and follow the installation instructions in the README.
 9 | 
10 | ## Starting the joystick publisher
11 | 1. The ```install.sh``` script makes the Raspberry Pi automatically look to pair and connect to PS4 joysticks on boot.
12 | 2. So once the Raspberry Pi turns on, put the PS4 controller into pairing mode by holding the share and PS button at the same time. The light should start blinking in bursts of two. 
13 | 3. By around 10 seconds, the joystick should have paired with the Raspberry Pi and the front light on the joystick will change to whatever color you specify in the ```joystick.py``` script.
14 | 
15 | ## Debugging 
16 | To see if the controller is publishing to the Rover topic use: 
17 | ```shell
18 | rover peek 8830
19 | ```
20 | 
21 | You can also check the status of the system daemon (systemd) running the ```joystick.py``` script by doing
22 | ```shell
23 | sudo systemctl status joystick
24 | ```
25 | If it shows that the service failed, you can try
26 | ```shell
27 | sudo systemctl stop joystick
28 | sudo systemctl start joystick
29 | ```
30 | 
31 | ## Notes
32 | If a packet is lost over the joystick connection, the PS4Joystick code will raise an exception and cause the program to exit. Systemd will then restart the ```joystick.py``` script, which means you will have to re-pair the joystick (hold share + ps4 button until double blinking). 
33 | 
34 | 


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/install.sh:
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 1 | #!/usr/bin/env sh
 2 | 
 3 | FOLDER=$(dirname $(realpath "$0"))
 4 | cd $FOLDER
 5 | 
 6 | sudo apt-get install -y libsdl-ttf2.0-0
 7 | yes | sudo pip install ds4drv
 8 | 
 9 | for file in *.service; do
10 |     [ -f "$file" ] || break
11 |     sudo ln -s $FOLDER/$file /lib/systemd/system/
12 | done
13 | 
14 | sudo systemctl daemon-reload
15 | sudo systemctl enable joystick
16 | sudo systemctl start joystick
17 | 


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/joystick.py:
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 1 | from UDPComms import Publisher, Subscriber, timeout
 2 | from PS4Joystick import Joystick
 3 | 
 4 | import time
 5 | 
 6 | ## you need to git clone the PS4Joystick repo and run `sudo bash install.sh`
 7 | 
 8 | ## Configurable ##
 9 | MESSAGE_RATE = 20
10 | PUPPER_COLOR = {"red":0, "blue":0, "green":255}
11 | 
12 | joystick_pub = Publisher(8830)
13 | joystick_subcriber = Subscriber(8840, timeout=0.01)
14 | joystick = Joystick()
15 | joystick.led_color(**PUPPER_COLOR)
16 | 
17 | while True:
18 |     print("running")
19 |     values = joystick.get_input()
20 | 
21 |     left_y = -values["left_analog_y"]
22 |     right_y = -values["right_analog_y"]
23 |     right_x = values["right_analog_x"]
24 |     left_x = values["left_analog_x"]
25 | 
26 |     L2 = values["l2_analog"]
27 |     R2 = values["r2_analog"]
28 | 
29 |     R1 = values["button_r1"]
30 |     L1 = values["button_l1"]
31 | 
32 |     square = values["button_square"]
33 |     x = values["button_cross"]
34 |     circle = values["button_circle"]
35 |     triangle = values["button_triangle"]
36 | 
37 |     dpadx = values["dpad_right"] - values["dpad_left"]
38 |     dpady = values["dpad_up"] - values["dpad_down"]
39 | 
40 |     msg = {
41 |         "ly": left_y,
42 |         "lx": left_x,
43 |         "rx": right_x,
44 |         "ry": right_y,
45 |         "L2": L2,
46 |         "R2": R2,
47 |         "R1": R1,
48 |         "L1": L1,
49 |         "dpady": dpady,
50 |         "dpadx": dpadx,
51 |         "x": x,
52 |         "square": square,
53 |         "circle": circle,
54 |         "triangle": triangle,
55 |         "message_rate": MESSAGE_RATE,
56 |     }
57 |     joystick_pub.send(msg)
58 | 
59 |     try:
60 |         msg = joystick_subcriber.get()
61 |         joystick.led_color(**msg["ps4_color"])
62 |     except timeout:
63 |         pass
64 | 
65 |     time.sleep(1 / MESSAGE_RATE)
66 | 


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/joystick.service:
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 1 | [Unit]
 2 | Description=Pupper Joystick service
 3 | 
 4 | [Service]
 5 | ExecStart=/usr/bin/python3 /home/pi/PupperCommand/joystick.py
 6 | Restart=always
 7 | RestartSec=5
 8 | KillSignal=2
 9 | TimeoutStopSec=10
10 | RemainAfterExit=true
11 | 
12 | [Install]
13 | WantedBy=multi-user.target
14 | 


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