Runs on mecanum wheel robot Pi0W, processes gamepad commands received over netcat

mecanum

#!/bin/bash

if [ ! -f /var/run/pigpio.pid ]; then sudo pigpiod -s 1; sleep 0.5; fi

S=160
D=1

PWMAR=9
AIN1R=10
AIN2R=22
BIN1R=27
BIN2R=17
PWMBR=4

PWMAL=14
AIN1L=15
AIN2L=18
BIN1L=23
BIN2L=24
PWMBL=25

pigs m $PWMAR w m $AIN2R w m $AIN1R w m $BIN1R w m $BIN2R w m $PWMBR w
pigs m $PWMAL w m $AIN2L w m $AIN1L w m $BIN1L w m $BIN2L w m $PWMBL w

pigs p $PWMAR 0 w $AIN2R 0 w $AIN1R 0 w $BIN1R 0 w $BIN2R 0 w $PWMBR 0
pigs p $PWMAL 0 w $AIN2L 0 w $AIN1L 0 w $BIN1L 0 w $BIN2L 0 w $PWMBL 0

spd() {
  if [ "$1" != "" ]; then
    pigs p $PWMAR $S p $PWMBR $S p $PWMAL $S p $PWMBL $S
    
    pigs p $PWMAR $1 p $PWMBR $1 p $PWMAL $1 p $PWMBL $1
  fi
}

stp() {
  pigs w $AIN1R 1 w $AIN2R 1 w $BIN2R 1 w $BIN1R 1
  pigs w $AIN1L 1 w $AIN2L 1 w $BIN2L 1 w $BIN1L 1
  spd 0
}

fwd() {
  pigs w $AIN1R 0 w $AIN2R $D w $BIN2R 0 w $BIN1R 1
  pigs w $AIN1L $D w $AIN2L 0 w $BIN2L 1 w $BIN1L 0
  spd $1
}

bck() {
  pigs w $AIN1R $D w $AIN2R 0 w $BIN2R 1 w $BIN1R 0
  pigs w $AIN1L 0 w $AIN2L $D w $BIN2L 0 w $BIN1L 1
  spd $1
}

rgt() {
  pigs w $AIN1R 1 w $AIN2R 0 w $BIN2R 0 w $BIN1R $D
  pigs w $AIN1L 0 w $AIN2L 1 w $BIN2L $D w $BIN1L 0
  spd $1
}

lft() {
  pigs w $AIN1R 0 w $AIN2R 1 w $BIN2R $D w $BIN1R 0
  pigs w $AIN1L 1 w $AIN2L 0 w $BIN2L 0 w $BIN1L $D
  spd $1
}

ctr() {
  pigs w $AIN1R 1 w $AIN2R 0 w $BIN2R 1 w $BIN1R 0
  pigs w $AIN1L 1 w $AIN2L 0 w $BIN2L 1 w $BIN1L 0
  spd $1
}

ctl() {
  pigs w $AIN1R 0 w $AIN2R 1 w $BIN2R 0 w $BIN1R 1
  pigs w $AIN1L 0 w $AIN2L 1 w $BIN2L 0 w $BIN1L 1
  spd $1
}

# remote joystick handling
#
SP=80
echo SP=$SP

nc -l 1234 | while IFS= read -r line; do
    case $line in
        "U")
            fwd $SP
        ;;
        "D")
            bck $SP
        ;;
        "L")
            lft $SP
        ;;
        "R")
            rgt $SP
        ;;
        "8")
            ctl $SP
        ;;
        "9")
            ctr $SP
        ;;
        "1")
            stp
        ;;
        "0")
            let D=1-D
            echo D=$D
        ;;
        "4")
            if [[ $SP -gt 15 ]]; then let SP=SP-16; fi
            echo SP=$SP
            spd $SP
        ;;
        "5")
            if [[ $SP -lt 240 ]]; then let SP=SP+16; fi
            echo SP=$SP
            spd $SP
        ;;
    esac
done

https://www.raspberrypi.org/forums/viewtopic.php?f=37&t=315880&p=1903566#p1903566