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Control your Valetudo-enabled Vacuum Robot using a gamepad
/*
* This small JS script enables you to control your Valetudo-enabled robot using a gamepad
* You will need to install node-hid as well as needle by running npm install node-hid and npm install needle
*
* Then, please edit VALETUDO_HOST so that it matches your setup.
*
* Keep in mind that there are no sanity checks and there's also no error handling.
* Your robot needs to implement the ManualControlCapability and your controller needs to be already connected
*
* Keymap:
*
* Movement is done via the D-Pad, because that was much easier to implement. Updates are sent every 60ms
*
* Start starts manual control
* Select stops manual control
*
* X stop
* Y sends the robot back to the dock
*
*/
const VALETUDO_HOST = "http://localhost:3197";
const HID = require('node-hid');
const needle = require("needle");
//VendorID and productId of the xbox360 controller. Works with ds4win and the dualshock 4
const controller = new HID.HID(1118, 654);
let state = {};
setInterval(() => {
handleControllerState(state);
}, 60)
controller.on("data", data => {
state = parseControllerState(data);
})
/**
* @param state
*/
function handleControllerState(state) {
if (state["button:X"] === 1) {
basicAction("stop");
} else if(state["button:Y"] === 1) {
basicAction("home");
} else if (state["button:Select"] === 1) {
toggle(false);
} else if (state["button:Start"] === 1) {
toggle(true);
} else if (state["button:Right"] === 1) {
move("rotate_clockwise");
} else if (state["button:Left"] === 1) {
move("rotate_counterclockwise");
} else if (state["button:Up"] === 1) {
move("forward")
} else if (state["button:Down"] === 1) {
move("backward")
}
}
function toggle(enabled) {
needle.put(VALETUDO_HOST + '/api/v2/robot/capabilities/ManualControlCapability', {
"action": enabled === true ? "enable" : "disable",
}, { json: true }, function(error, response) {
if(error) {
console.error(error);
}
});
}
function basicAction(action) {
needle.put(VALETUDO_HOST + '/api/v2/robot/capabilities/BasicControlCapability', {
"action": action,
}, { json: true }, function(error, response) {
if(error) {
console.error(error);
}
});
}
function move(action) {
needle.put(VALETUDO_HOST + '/api/v2/robot/capabilities/ManualControlCapability', {
"action": "move",
"movementCommand": action
}, { json: true }, function(error, response) {
if(error) {
console.error(error);
}
});
}
/**
* This is a very poor and hacked function to fetch the keypresses from the raw HID events.
* Feel free to extend it so that it actually becomes a proper parse.
*
* @param {Buffer} data
*/
function parseControllerState(data) {
const state = {};
state["button:Start"] = data[10] >> 7 & 1;
state["button:Select"] = data[10] >> 6 & 1;
state["button:A"] = data[10] & 1;
state["button:B"] = data[10] >> 1 & 1;
state["button:X"] = data[10] >> 2 & 1;
state["button:Y"] = data[10] >> 3 & 1;
state["button:L1"] = data[10] >> 4 & 1;
state["button:R1"] = data[10] >> 5 & 1;
switch(data[11]) {
case 0:
state['button:Up'] = 0;
state['button:Right'] = 0;
state['button:Down'] = 0;
state['button:Left'] = 0;
break;
case 4:
state['button:Up'] = 1;
state['button:Right'] = 0;
state['button:Down'] = 0;
state['button:Left'] = 0;
break;
case 8:
state['button:Up'] = 1;
state['button:Right'] = 1;
state['button:Down'] = 0;
state['button:Left'] = 0;
break;
case 12:
state['button:Up'] = 0;
state['button:Right'] = 1;
state['button:Down'] = 0;
state['button:Left'] = 0;
break;
case 16:
state['button:Up'] = 0;
state['button:Right'] = 1;
state['button:Down'] = 1;
state['button:Left'] = 0;
break;
case 20:
state['button:Up'] = 0;
state['button:Right'] = 0;
state['button:Down'] = 1;
state['button:Left'] = 0;
break;
case 24:
state['button:Up'] = 0;
state['button:Right'] = 0;
state['button:Down'] = 1;
state['button:Left'] = 1;
break;
case 28:
state['button:Up'] = 0;
state['button:Right'] = 0;
state['button:Down'] = 0;
state['button:Left'] = 1;
break;
case 32:
state['button:Up'] = 1;
state['button:Right'] = 0;
state['button:Down'] = 0;
state['button:Left'] = 1;
break;
}
return state;
}
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