Dual Joystick Module Control¶

In this project, we will use the Dual Joystick Module that comes with the kit to control the PiArm.

Shovel Bucket - Joystick Control
Hanging Clip - Joystick Control
Electromagnet - Joystick Control

Shovel Bucket - Joystick Control¶

cd /home/pi/piarm/examples
sudo python3 joystick_module1.py

Once the code is run, you will be able to control the rotation of PiArm’s arm by toggling the left and right joysticks, and controlling the angle of the Shovel Bucket by pressing the left and right joysticks respectively.

But you need to assemble Shovel Bucket to PiArm first.

Code

from robot_hat import Servo,PWM,Joystick,ADC,Pin
from robot_hat.utils import reset_mcu
from time import sleep

from piarm import PiArm

reset_mcu()
sleep(0.01)

leftJoystick = Joystick(ADC('A0'),ADC('A1'),Pin('D0'))
rightJoystick = Joystick(ADC('A2'),ADC('A3'),Pin('D1'))

arm = PiArm([1,2,3])
arm.bucket_init(PWM('P3'))
arm.set_offset([0,0,0])

def _angles_control():
    arm.speed = 100
    flag = False
    alpha,beta,gamma = arm.servo_positions
    bucket = arm.component_staus

    if leftJoystick.read_status() == "up":
        alpha += 1
        flag = True
    elif leftJoystick.read_status() == "down":
        alpha -= 1
        flag = True
    if leftJoystick.read_status() == "left":
        gamma += 1
        flag = True
    elif leftJoystick.read_status() == "right":
        gamma -= 1
        flag = True
    if rightJoystick.read_status() == "up":
        beta += 1
        flag = True
    elif rightJoystick.read_status() == "down":
        beta -= 1
        flag = True
    if leftJoystick.read_status() == "pressed":
        bucket += 2
        flag = True
    elif rightJoystick.read_status() == "pressed":
        bucket -= 2
        flag = True

    if flag == True:
        arm.set_angle([alpha,beta,gamma])
        arm.set_bucket(bucket)
        print('servo angles: %s , bucket angle: %s '%(arm.servo_positions,arm.component_staus))

if __name__ == "__main__":
    while True:
        _angles_control()
        sleep(0.01)

How it works?

leftJoystick = Joystick(ADC('A0'),ADC('A1'),Pin('D0'))
rightJoystick = Joystick(ADC('A2'),ADC('A3'),Pin('D1'))

Define the X,Y and Z pin connections for the left and right joysticks.

def _angles_control():
    arm.speed = 100
    flag = False
    alpha,beta,gamma = arm.servo_positions
    bucket = arm.component_staus

    if leftJoystick.read_status() == "up":
        alpha += 1
        flag = True
    elif leftJoystick.read_status() == "down":
        alpha -= 1
        flag = True
    if leftJoystick.read_status() == "left":
        gamma += 1
        flag = True
    elif leftJoystick.read_status() == "right":
        gamma -= 1
        flag = True
    if rightJoystick.read_status() == "up":
        beta += 1
        flag = True
    elif rightJoystick.read_status() == "down":
        beta -= 1
        flag = True
    if leftJoystick.read_status() == "pressed":
        bucket += 2
        flag = True
    elif rightJoystick.read_status() == "pressed":
        bucket -= 2
        flag = True

    if flag == True:
        arm.set_angle([alpha,beta,gamma])
        arm.set_bucket(bucket)
        print('servo angles: %s , bucket angle: %s '%(arm.servo_positions,arm.component_staus))

In this code, the _angles_control() function is created to control the PiArm.

alpha, beta and gamma refer to the angles of the 3 servos on the Arm respectively, refer to: Angle Mode.
If the left joystick is toggled up, alpha increases and the Arm will extend forward.
If the left joystick is toggled down, alpha decreases and the Arm will retract backward.
If the left joystick is toggled to the left, gamma increases and the Arm will turn left.
If the left joystick is toggled to the right, gamma decreases and the Arm will turn right.
If the right joystick is toggled up, beta increases and the Arm will raise up.
If the right joystick is toggled down, beta decreases and the Arm will lower down.
Finally, use the left and right joystick buttons to control the angle of the Shovel Bucket respectively.

Hanging Clip - Joystick Control¶

Run the code

cd /home/pi/piarm/examples
sudo python3 joystick_module2.py

Once the code is running, you will be able to control the rotation of PiArm’s arm by toggling the left and right joysticks, and control the opening/closing of the Hanging Clip by pressing the left and right joysticks respectively.

But you need to assemble Hanging Clip to PiArm first.

Code

from robot_hat import Servo,PWM,Joystick,ADC,Pin
from robot_hat.utils import reset_mcu
from time import sleep

from piarm import PiArm

reset_mcu()
sleep(0.01)

leftJoystick = Joystick(ADC('A0'),ADC('A1'),Pin('D0'))
rightJoystick = Joystick(ADC('A2'),ADC('A3'),Pin('D1'))

arm = PiArm([1,2,3])
arm.hanging_clip_init(PWM('P3'))
arm.set_offset([0,0,0])

def _angles_control():
    arm.speed = 100
    flag = False
    alpha,beta,gamma = arm.servo_positions
    clip = arm.component_staus

    if leftJoystick.read_status() == "up":
        alpha += 1
        flag = True
    elif leftJoystick.read_status() == "down":
        alpha -= 1
        flag = True
    if leftJoystick.read_status() == "left":
        gamma += 1
        flag = True
    elif leftJoystick.read_status() == "right":
        gamma -= 1
        flag = True
    if rightJoystick.read_status() == "up":
        beta += 1
        flag = True
    elif rightJoystick.read_status() == "down":
        beta -= 1
        flag = True

    if leftJoystick.read_status() == "pressed":
        clip += 2
        flag = True
    elif rightJoystick.read_status() == "pressed":
        clip -= 2
        flag = True

    if flag == True:
        arm.set_angle([alpha,beta,gamma])
        arm.set_hanging_clip(clip)
        print('servo angles: %s , clip angle: %s '%(arm.servo_positions,arm.component_staus))

if __name__ == "__main__":
    while True:
        _angles_control()
        sleep(0.01)

In this code, the _angles_control() function is created to control the PiArm.

alpha, beta and gamma refer to the angles of the 3 servos on the Arm respectively, refer to: Angle Mode.
If the left joystick is toggled up, alpha increases and the Arm will extend forward.
If the left joystick is toggled down, alpha decreases and the Arm will retract backward.
If the left joystick is toggled to the left, gamma increases and the Arm will turn left.
If the left joystick is toggled to the right, gamma decreases and the Arm will turn right.
If the right joystick is toggled up, beta increases and the Arm will raise up.
If the right joystick is toggled down, beta decreases and the Arm will lower down.
Finally, use the left and right joystick buttons to control the angles of the Hanging Clip respectively.

Electromagnet - Joystick Control¶

Run the code

cd /home/pi/piarm/examples
sudo python3 joystick_module3.py

Once the code is run, you will be able to control the rotation of PiArm’s arm by toggling the left and right joysticks, and controlling the on/off of the Electromagnet by pressing the left and right joysticks respectively.

But you need to assemble Electromagnet to PiArm first.

Code

from robot_hat import Servo,PWM,Joystick,ADC,Pin
from robot_hat.utils import reset_mcu
from time import sleep

from piarm import PiArm

reset_mcu()
sleep(0.01)


leftJoystick = Joystick(ADC('A0'),ADC('A1'),Pin('D0'))
rightJoystick = Joystick(ADC('A2'),ADC('A3'),Pin('D1'))

arm = PiArm([1,2,3])
arm.electromagnet_init(PWM('P3'))
arm.set_offset([0,0,0])

def _angles_control():
    arm.speed = 100
    flag = False
    alpha,beta,gamma = arm.servo_positions
    status = ""

    if leftJoystick.read_status() == "up":
        alpha += 1
        flag = True
    elif leftJoystick.read_status() == "down":
        alpha -= 1
        flag = True
    if leftJoystick.read_status() == "left":
        gamma += 1
        flag = True
    elif leftJoystick.read_status() == "right":
        gamma -= 1
        flag = True
    if rightJoystick.read_status() == "up":
        beta += 1
        flag = True
    elif rightJoystick.read_status() == "down":
        beta -= 1
        flag = True
    if leftJoystick.read_status() == "pressed":
        arm.set_electromagnet('on')
        status = "electromagnet is on"
    elif rightJoystick.read_status() == "pressed":
        arm.set_electromagnet('off')
        status = "electromagnet is off"

    if flag == True:
        arm.set_angle([alpha,beta,gamma])
        print('servo angles: %s , electromagnet status: %s '%(arm.servo_positions,status))

if __name__ == "__main__":
    while True:
        _angles_control()
        sleep(0.01)

In this code, the _angles_control() function is created to control the PiArm.

alpha, beta and gamma refer to the angles of the 3 servos on the Arm respectively, refer to: Angle Mode.
If the left joystick is toggled up, alpha increases and the Arm will extend forward.
If the left joystick is toggled down, alpha decreases and the Arm will retract backward.
If the left joystick is toggled to the left, gamma increases and the Arm will turn left.
If the left joystick is toggled to the right, gamma decreases and the Arm will turn right.
If the right joystick is toggled up, beta increases and the Arm will raise up.
If the right joystick is toggled down, beta decreases and the Arm will lower down.
Finally, use the left and right joystick buttons to control the on/off of the Electromagnet respectively.