joystick.py

#!/usr/bin/env python2
# -*- coding: utf-8 -*-
"""
Created on Mon Mar  9 14:05:02 2020

@author: linux-asd
"""

from evdev import InputDevice, categorize, ecodes
from select import select
import numpy as np

class Joystick:
    def __init__(self , event):
        #python3 /usr/local/lib/python3.8/dist-packages/evdev/evtest.py for identify event
        self.gamepad = InputDevice(event)
        self.L3 = np.array([0. , 0.])
        self.R3 = np.array([0. , 0.])
        
        self.x=0
        self.triangle=0
        self.circle=0
        self.square=0
        
        self.T = 1.
        
    def read(self):
        r,w,x = select([self.gamepad.fd], [], [], 0.)
        
        if r:
            for event in self.gamepad.read():
#                print(event)
                if event.type == ecodes.EV_KEY:
                    if event.value == 1:
                        if event.code == 544:#up arrow
                            self.T += 0.1
                        if event.code == 545:#down arrow
                            self.T -= 0.1
                    else:
                        print("boton soltado")
                ########################################  for my own joystick
                #      ^           #     ^            #
                #    ABS_Y         #    ABS_RY        #
                #  ←─────→ ABS_X #  ←─────→ ABS_RX   #
                #     ↓           #     ↓            #  
                #######################################
                elif event.type == ecodes.EV_ABS:
                    absevent = categorize(event)
                    if ecodes.bytype[absevent.event.type][absevent.event.code] == "ABS_X":  
                        self.L3[0]=absevent.event.value-127
                    elif ecodes.bytype[absevent.event.type][absevent.event.code] == "ABS_Y":
                        self.L3[1]=absevent.event.value-127
                        
                    elif ecodes.bytype[absevent.event.type][absevent.event.code] == "ABS_RX":
                        self.R3[0]=absevent.event.value-127
#                        print(self.d_z)
                    elif ecodes.bytype[absevent.event.type][absevent.event.code] == "ABS_RY":
                        self.R3[1]=absevent.event.value-127
                        
        L = np.sqrt(self.L3[1]**2 + self.L3[0]**2)/127.
        angle = -np.rad2deg(np.arctan2(-self.L3[0] , -self.L3[1]))
        Lrot = self.R3[0]/127.
        
        return L , -angle , -Lrot , self.T