joy_test.py

import serial
import pygame

# allow multiple joysticks
joy = []

# Arduino USB port address (try "COM5" on Win32)
usbport = "/dev/ttyUSB0"

# define usb serial connection to Arduino
ser = serial.Serial(usbport, 9600)

# handle joystick event
def handleJoyEvent(e):
    if e.type == pygame.JOYAXISMOTION:
        axis = "unknown"
        if (e.dict['axis'] == 0):
            axis = "X"

        if (e.dict['axis'] == 1):
            axis = "Y"

        if (e.dict['axis'] == 4):
            axis = "T"

        if (e.dict['axis'] == 3):
            axis = "P"

        if (axis != "unknown"):
            str = "Axis: %s; Value: %f" % (axis, e.dict['value'])
            # uncomment to debug
            #output(str, e.dict['joy'])

            # Arduino joystick-servo hack
            if (axis == "X"):
                xpos = e.dict['value']
                # convert joystick position to servo increment, 0-180
                #move = round(pos * 90, 0)
                if (xpos < -5000):
                    ser.write("M,")
                    ser.write("F,")
                    ser.write(xpos)
                    ser.write("*")
                elif (xpos > 5000):
                    ser.write("M,")
                    ser.write("B,")
                    ser.write(xpos)
                    ser.write("*")
                    # convert position to ASCII character
                    #servoPosition = chr(servo)
                    # and send to Arduino over serial connection
                    #ser.write(servoPosition)
                    # uncomment to debug
                    #print servo, servoPosition
            if (axis == "Y"):
                ypos = e.dict['value']
                if (ypos< -5000):
                    ser.write("M,")
                    ser.write("L,")
                    ser.write(ypos)
                    ser.write("*")
                elif (ypos > 5000):
                    ser.write("M,")
                    ser.write("R,")
                    ser.write(ypos)
                    ser.write("*")
            if  (axis == "T"):
                tpos = e.dict['value']
                ser.write("T,")
                ser.write("A,")
                ser.write(tpos)
                ser.write("*")
            if (axis  == "P"):
                ppos = e.dict['value']
                ser.write("P,")
                ser.write("A,")
                ser.write(ppos)
                ser.write("*")
    elif e.type == pygame.JOYBUTTONDOWN:
        str = "Button: %d" % (e.dict['button'])
        # uncomment to debug
        #output(str, e.dict['joy'])
        # Button 0 (trigger) to quit
        if (e.dict['button'] == 0):
            print "Bye!n"
            ser.close()
    else:
        pass
def output(line, stick):
    print "Joystick: %d; %s" % (stick, line)

# wait for joystick input
def joystickControl():
    while True:
        e = pygame.event.wait()
        if (e.type == pygame.JOYAXISMOTION or e.type == pygame.JOYBUTTONDOWN):
            handleJoyEvent(e)

# main method
def main():
    # initialize pygame
    pygame.joystick.init()
    pygame.display.init()
    if not pygame.joystick.get_count():
        print "nPlease connect a joystick and run again.n"
        print "n%d joystick(s) detected." % pygame.joystick.get_count()
#    for i in range(pygame.joystick.get_count()):
#        myjoy = pygame.joystick.Joystick(i)
#        myjoy.init()#
#        joy.append(myjoy)
#        print "Joystick %d: " % (i) + joy[i].get_name()
    print "Depress trigger (button 0) to quit.n"

    # run joystick listener loop
    joystickControl()

# allow use as a module or standalone script
if __name__ == "__main__":
    main()
        # print the jo