Merge pull request #86 from Open-STEM/frank

Add in Gamepad support

Author: bradamiller

XRPExamples/gamepad_example.blocks

@@ -0,0 +1,15 @@
+from XRPLib.gamepad import *
+from XRPLib.differential_drive import DifferentialDrive
+
+gp = Gamepad.get_default_gamepad()
+
+differentialDrive = DifferentialDrive.get_default_differential_drive()
+
+
+while not (gp.is_button_pressed(gp.BACK)):
+  differentialDrive.arcade((gp.get_value(gp.Y1)), (gp.get_value(gp.X1)))
+
+
+
+## [2025-07-13 01:36:24]
+##XRPBLOCKS {"blocks":{"languageVersion":0,"blocks":[{"type":"controls_whileUntil","id":"#/DDnbE2JxVsLQo`C`e^","x":-363,"y":16,"fields":{"MODE":"UNTIL"},"inputs":{"BOOL":{"block":{"type":"xrp_gp_button_pressed","id":"DtLypJc;SU2xT4A~S3nV","fields":{"GPBUTTON":"BACK"}}},"DO":{"block":{"type":"xrp_arcade","id":"(|]Iln#JYa9hzgEz+(4g","inputs":{"STRAIGHT":{"shadow":{"type":"math_number","id":"FOj1uvC$:~x/+cX}d(:|","fields":{"NUM":0.8}},"block":{"type":"xrp_gp_get_value","id":"s#GS_Dt)B8Cb9+4ctpwk","fields":{"GPVALUE":"Y1"}}},"TURN":{"shadow":{"type":"math_number","id":"n1jAKrjST!+3#bfChh$d","fields":{"NUM":0.2}},"block":{"type":"xrp_gp_get_value","id":"*]`U9XHyYnA?Gp%U;$NF","fields":{"GPVALUE":"X1"}}}}}}}}]}}

XRPLib/gamepad.py

@@ -0,0 +1,97 @@
+from ble.blerepl import uart
+import sys
+from micropython import const
+
+class Gamepad:
+
+    _DEFAULT_GAMEPAD_INSTANCE = None
+
+    X1 = const(0)
+    Y1 = const(1)
+    X2 = const(2)
+    Y2 = const(3)
+    BUTTON_A = const(4)
+    BUTTON_B = const(5)
+    BUTTON_X = const(6)
+    BUTTON_Y = const(7)
+    BUMPER_L = const(8)
+    BUMPER_R = const(9)
+    TRIGGER_L = const(10)
+    TRIGGER_R = const(11)
+    BACK = const(12)
+    START = const(13)
+    DPAD_UP = const(14)
+    DPAD_DN = const(15)
+    DPAD_L = const(16)
+    DPAD_R = const(17)
+
+    _joyData = [
+    0.0,
+    0.0,
+    0.0,
+    0.0,
+    0,0,0,0,0,0,0,0,0,0,0,0,0,0]
+
+    @classmethod
+    def get_default_gamepad(cls):
+        """
+        Get the default XRP bluetooth joystick instance. This is a singleton, so only one instance of the gamepad sensor will ever exist.
+        """
+        if cls._DEFAULT_GAMEPAD_INSTANCE is None:
+            cls._DEFAULT_GAMEPAD_INSTANCE = cls()
+        cls._DEFAULT_GAMEPAD_INSTANCE.start()
+        return cls._DEFAULT_GAMEPAD_INSTANCE
+
+    def __init__(self):
+        """
+        Manages communication with gamepad data coming from a remote computer via bluetooth
+
+        """
+    def start(self):
+        """
+        Signals the remote computer to begin sending gamepad data packets.
+        """
+        for i in range(len(self._joyData)):
+            self._joyData[i] = 0.0
+        uart.set_data_callback(self._data_callback)
+        sys.stdout.write(chr(27))
+        sys.stdout.write(chr(101))
+
+
+    def stop(self):
+        """
+        Signals the remote computer to stop sending gamepad data packets. 
+        """
+        sys.stdout.write(chr(27))
+        sys.stdout.write(chr(102))
+
+    def get_value(self, index:int) -> float:
+        """
+        Get the current value of a joystick axis
+
+        :param index: The joystick axis index 
+        Gamepad.X1, Gamepad.Y1, Gamepad.X2, Gamepad.Y2
+        :type int
+        :returns: The value of the joystick between -1 and 1
+        :rtype: float
+        """
+        return -self._joyData[index] #returning the negative to make normal for user 
+
+    def is_button_pressed(self, index:int) -> bool:
+        """
+        Checks if a specific button is currently pressed.
+
+        :param index: The button index
+        Gamepad.BUTTON_A, Gamepad.TRIGGER_L, Gamepad.DPAD_UP, etc
+        :type int
+        :returns: The value of the button 1 or 0
+        :rtype: bool
+        """
+        return self._joyData[index] > 0      
+
+    def _data_callback(self, data):
+        if(data[0] == 0x55 and len(data) == data[1] + 2):
+            for i in range(2, data[1] + 2, 2):
+                self._joyData[data[i]] = round(data[i + 1]/127.5 - 1, 2)
+            
+        

XRPLib/resetbot.py

@@ -33,12 +33,21 @@ def reset_webserver():
     # Shut off the webserver and close network connections
     Webserver.get_default_webserver().stop_server()
 
+def reset_gamepad():
+    from XRPLib.gamepad import Gamepad
+    # Stop the browser from sending more gamepad data
+    Gamepad.get_default_gamepad().stop()
+
 def reset_hard():
+    reset_gamepad()
     reset_motors()
     reset_led()
     reset_servos()
     reset_webserver()
 
+if "XRPLib.gamepad" in sys.modules:
+    reset_gamepad()
+
 if "XRPLib.encoded_motor" in sys.modules:
     reset_motors()
 
@@ -50,3 +59,4 @@ def reset_hard():
 
 if "XRPLib.webserver" in sys.modules:
     reset_webserver()
+

package.json

@@ -7,6 +7,7 @@
       ["XRPLib/differential_drive.py", "github:Open-STEM/XRP_Micropython/XRPLib/differential_drive.py"],
       ["XRPLib/encoded_motor.py", "github:Open-STEM/XRP_Micropython/XRPLib/encoded_motor.py"],
       ["XRPLib/encoder.py", "github:Open-STEM/XRP_Micropython/XRPLib/encoder.py"],
+      ["XRPLib/gamepad.py", "github:Open-STEM/XRP_Micropython/XRPLib/gamepad.py"],
       ["XRPLib/imu_defs.py", "github:Open-STEM/XRP_Micropython/XRPLib/imu_defs.py"],
       ["XRPLib/imu.py", "github:Open-STEM/XRP_Micropython/XRPLib/imu.py"],
       ["XRPLib/motor_group.py", "github:Open-STEM/XRP_Micropython/XRPLib/motor_group.py"],
@@ -20,6 +21,7 @@
       ["XRPLib/webserver.py", "github:Open-STEM/XRP_Micropython/XRPLib/webserver.py"],
       ["XRPExamples/__init__.py", "github:Open-STEM/XRP_Micropython/XRPExamples/__init__.py"],
       ["XRPExamples/drive_examples.py", "github:Open-STEM/XRP_Micropython/XRPExamples/drive_examples.py"],
+      ["XRPExamples/gamepad_example.blocks", "github:Open-STEM/XRP_Micropython/XRPExamples/gamepad_example.blocks"],
       ["XRPExamples/installation_verification.py", "github:Open-STEM/XRP_Micropython/XRPExamples/installation_verification.py"],
       ["XRPExamples/led_example.py", "github:Open-STEM/XRP_Micropython/XRPExamples/led_example.py"],
       ["XRPExamples/sensor_examples.py", "github:Open-STEM/XRP_Micropython/XRPExamples/sensor_examples.py"],
@@ -28,5 +30,5 @@
     "deps": [
       ["github:pimoroni/phew", "latest"]
     ],
-    "version": "2.0.1"
+    "version": "2.1.3"
   }