I just got the GoPiGo to work with a wireless xbox 360 controller and thought I’d share how I did it for anyone interested.
Step 1: Install the driver for the xbox 360 controller on you Raspberry Pi
sudo apt-get install xboxdrv
Step 2: Test controller input
Connect the controller or wireless receiver to your Raspberry Pi and run the following command:
sudo xboxdrv
Events will be printed in the terminal when you press buttons on your controller.
If that doesn’t work, try using sudo xboxdrv --detach-kernel-driver.
Press control+c to stop testing and run sudo xboxdrv --silent & to keep listening for controller input in the background.
Step3: Get the GoPiGo files
Find instructions under step 3 at http://www.dexterindustries.com/GoPiGo/getting-started-with-your-gopigo-raspberry-pi-robot-kit/sdcard/
Step 4: Get XboxController.py
Download it from https://github.com/martinohanlon/XboxController/blob/master/XboxController.py and save it to the GoPiGo/Software/Python folder.
Step 5: Use my script to control your robot with the controller
This script lets you control the wheels individually with the two joysticks on the controller. Create a file called ‘vroom.py’ in the GoPiGo/Software/Python folder and copy in the following code:
#!/usr/bin/env python
from gopigo import *
import XboxController
# exit gracefully
def exit():
stop()
xboxCont.stop()
print 'bye!'
# set speed for one of the two wheels
# side is m1_cmd (right) or m2_cmd (left)
# speed is between -255 (backwards) and 255 (forwards)
def setWheelSpeed(side, speed):
direction = 1 if speed > 0 else 0
absSpeed = int(abs(speed))
write_i2c_block(address, side+[direction, absSpeed, 0])
# handle controller input
# this function prints input values so you can easily add and/or change behavior
def handleInput(controlId, value):
print "Control id = {}, Value = {}".format(controlId, value)
if controlId == 1: # left joystick
setWheelSpeed(m2_cmd, value)
elif controlId == 3: # right joystick
setWheelSpeed(m1_cmd, value)
elif controlId == 8: # x button
exit()
xboxCont = XboxController.XboxController(
controllerCallBack = handleInput,
joystickNo = 0,
deadzone = 25, # ignore very small joystick offsets
scale = 255, # match scale used by motors
invertYAxis = True # pushing joystick up now gives positive values
)
xboxCont.start()
Step 6: Control your GoPiGo!
Start the script with python vroom.py. Exit by pressing the x button on your controller.