Hey, I am currently trying to program a self built RoV and I have put together some code to get polar coordinates from my xbox controller that will essentially drive 2 of the thrusters. The problem I am having is that I need to make it work with Gpiozero and MQTT, since Pigpio remote gpio will not work on a raspberry pi 5 (which will be the topside computer).
I am getting some really good values for X (Left=motor) and Y (Right=motor) but I don't know how to implement these values in Gpiozero to drive the motors, I have tried different things from their motor library and even outputdevice, but nothing seems to work for me and I would love some help if anyone knows a way to do it.
Any help with this would be really appreciated.
Code:
import mathfrom evdev import InputDevice, ecodesdevice = InputDevice('/dev/input/event0')def get_axis_value(i): return 2.0 * (device.absinfo(i).value -32767) / (-32768 -32767) - 1.0def steerRight(): joy_x = get_axis_value(0) joy_y = get_axis_value(1) theta = math.atan2(joy_y, joy_x) r = math.sqrt(joy_x * joy_x + joy_y * joy_y) if abs(joy_x) > abs(joy_y): max_r = abs(r / joy_x) else: max_r = abs(r / joy_y) magnitude = r / max_r turn_damping = 3.1 right = round(magnitude * (math.sin(theta) - math.cos(theta) / turn_damping), 2) right = -1 if right < -1 else 1 if right > 1 else right return right def steerLeft(): joy_x = get_axis_value(0) joy_y = get_axis_value(1) theta = math.atan2(joy_y, joy_x) r = math.sqrt(joy_x * joy_x + joy_y * joy_y) if abs(joy_x) > abs(joy_y): max_r = abs(r / joy_x) else: max_r = abs(r / joy_y) magnitude = r / max_r turn_damping = 3.1 left = round(magnitude * (math.sin(theta) + math.cos(theta) / turn_damping), 2) left = -1 if left < -1 else 1 if left > 1 else left return left for event in device.read_loop(): if event.type == ecodes.EV_ABS: print(steerLeft(), steerRight())Any help with this would be really appreciated.
Statistics: Posted by Gustav99 — Thu Nov 07, 2024 5:06 pm
