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servo control xbox raspberry pi
Jealous Jackal
on Mar 16, 2021
#!/usr/bin/env python
import pigpio
import math
import xbox
GPIO_SERVO_PIN = 20
MIN_ANG=-180.0 #degrees
MAX_ANG=180.0 #degrees
MIN_PW=1000 # microseconds
MAX_PW=2000 # microseconds
ANG_RANGE=MAX_ANG-MIN_ANG
PW_RANGE=MAX_PW-MIN_PW
PWAR=float(PW_RANGE)/ANG_RANGE
RAD2DEG=180.0/math.pi
def angleToPulseWidth(angle):
"""
angle is mapped to valid pulse widths for servo
which are determined by experiment.
"""
assert MIN_ANG <= angle <= MAX_ANG
return MIN_PW + ((angle - MIN_ANG) * PWAR)
if __name__ == '__main__':
import pigpio
import time
pi = pigpio.pi()
if not pi.connected:
exit()
joy = xbox.Joystick()
while not joy.Back():
x, y = joy.leftStick()
angle = math.atan2(y, x) * RAD2DEG
pw = angleToPulseWidth(angle)
pi.set_servo_pulsewidth(GPIO_SERVO_PIN, pw)
time.sleep(0.01)
joy.close()
pi.stop()
Source: raspberrypi.stackexchange.com
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