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ps3 controlled Edukit Robot with piconzero board See comments for setup. Also require suitable .png file for desktop file icon. Put this in /usr/share/pixmaps Video at https://youtu.be/fGX0mGFvrh8
#!/usr/bin/python
#ps3 controlled robot using picon zero board and edukit chassis by Robin Newman May31 2016
#led added to output 5 with a series resistore 270 ohms
#motors powers through 4xAA battery pack
#ps3 afterglow wireless contrller, dongle in pizero usb socket
#needs sudo apt-get install joystick after sudo apt-get update
#this file placed in /usr/local/bin and sudo chmod 755 access set
#also in /usr/local/bin piconzero.py library file
#separate desktop file placed in ~/.config/autostart to start program running on boot
import piconzero as pz
import subprocess,pygame,sys
pz.init()
pygame.init()
clock=pygame.time.Clock()
ps3 = pygame.joystick.Joystick(0)
ps3.init()
gate=0.1
pz.setOutputConfig(5,0) #set uput channel 5 digital on/off
pz.setOutput(5,1) #led to signify protgeram is running for headless operation
while True:
try:
pygame.event.pump()
lud=ps3.get_axis(1)
llr=ps3.get_axis(0)
bshutdown=ps3.get_button(1) #used to shutdown
up=-min(lud,0)
down=max(0,lud)
left=-min(llr,0)
right=max(0,llr)
if bshutdown ==1: #this carries out shutdown
pz.stop()
pz.cleanup()
command="/usr/bin/sudo /sbin/shutdown -h now"
subprocess.Popen(command.split(),stdout=subprocess.PIPE)
output = process.communicate()[0]
print (output)
speed=int((abs(lud)+abs(llr))*75)
print("Robot data")
print("Speed: "+str(speed))
if up >gate and abs(llr) <gate:
pz.forward(speed)
print("Forward")
elif down >gate and abs(llr) <gate:
pz.reverse(speed)
print("Reverse")
elif left>gate and abs(lud) < gate:
pz.spinLeft (speed)
print("SpinLeft")
elif right>gate and abs(lud) <gate:
pz.spinRight (speed)
print("SpindRight")
elif abs(llr)<gate and abs(lud)<gate:
pz.stop()
print("Stop")
clock.tick(20)
subprocess.call("clear")
except KeyboardInterrupt:
print("\nExiting")
pygame.quit()
pz.cleanup()
print("Cleaned up")
sys.exit(1)
[Desktop Entry]
Encoding=UTF-8
Version=1.0
Type=Application
Exec=ps3robotautokill
Icon=/usr/share/pixmaps/ps3robotautokill.png
Terminal=true
Name=ps3robotautokill
Categories=Application;Development;
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