Drive robotic arm with a Gamepad from a Raspberry Pi with WebSocket and ESP8266

rot2u 6dof websocket espduino esp8266 gamepad

# WebSocket Client to drive Arduino Robotic kit (ROT2U 6DOF) with a Gamepad and a Raspberry Pi 3
# Client webSocket permettant de piloter un bras robotique (kit ROT2U 6DOF) avec un Gamepad depuis un Raspberry Pi 3
# https://projetsdiy.fr - https://diyprojects.io - dev. 2017
# 
from ws4py.client.threadedclient import WebSocketClient
import time, requests
from evdev import InputDevice, categorize, ecodes
from threading import Thread

# Adresse du serveur WebSocket sur ESP8266 | WekSocket address on ESP8266
esp8266host = "ws://192.168.1.65:81/"

# cree un objet 'gamepad' attache au port USB | creates object 'gamepad' to store the data
# executer ls /dev/input pour cidentifier le port USB | execute the command ls /dev/input in a Terminal to find usb port
gamepad = InputDevice('/dev/input/event3')

# Gamepad connecte | prints out device info at start
print("Gamepad: ",gamepad)

# Variables globales permettant d actualiser la requete HTTP | Global variables to update HTTP thread
servo       = ""
direction   = ""
send        = False
httpFreq    = .05

aBtn = 289
bBtn = 290
xBtn = 288
yBtn = 291
lBtn = 292
rBtn = 293
selBtn = 296
staBtn = 297

class DummyClient(WebSocketClient):
    def opened(self):
        t1 = Thread(target=sendRequest)
        t1.daemon = True
        t1.start()
        print("Start Websocket thread")
    def closed(self, code, reason=None):
        print "Connexion closed down", code, reason

    def received_message(self, m):
        print m

# Websocket request thread
def sendRequest():
  global servo
  global direction
  global send

  #while not ws.closed:
  while True:
    # Un seul servo a la fois pour le moment | Only one servo in the version
    payload = servo+":"+direction
    if send:
      ws.send(payload)
      time.sleep(httpFreq)

if __name__ == '__main__':
    try:
        ws = DummyClient(esp8266host, protocols=['http-only', 'chat'])
        ws.connect()
        print("Ready !")

        #evdev takes care of polling the controller in a loop
        for event in gamepad.read_loop():
            print("Event: ",categorize(event)," |value: ",event.value)
            if event.type == ecodes.EV_KEY:
                print("button is pressed",categorize(event))
                if event.value == 1:
                    if event.code == xBtn:
                        servo = "servo2"
                        direction = "up"
                        send = True
                        print("X")
                    elif event.code == bBtn:
                        servo = "servo2"
                        direction = "down"
                        send = True
                        print("B")
                    elif event.code == aBtn:
                        servo = "servo3"
                        direction = "up"
                        send = True
                        print("A")
                    elif event.code == yBtn:
                        servo = "servo3"
                        direction = "down"
                        send = True
                        print("Y")
                    elif event.code == lBtn:
                        servo = "servo4"
                        direction = "up"
                        send = True
                        print("LEFT BTN")
                    elif event.code == rBtn:
                        servo = "servo4"
                        direction = "down"
                        send = True
                        print("RIGHT BT")
                    elif event.code == selBtn:
                        servo = "servo5"
                        direction = "open"
                        send = True
                        print("Select BTN")
                    elif event.code == staBtn:
                        servo = "servo5"
                        direction = "close"
                        send = True
                        print("Start BTN")
                elif event.value == 0:
                  send = False
            elif event.type == ecodes.EV_ABS:
                absevent = categorize(event)
                print ecodes.bytype[absevent.event.type][absevent.event.code], absevent.event.value
                if ecodes.bytype[absevent.event.type][absevent.event.code] == "ABS_X":
                     if absevent.event.value == 0:
                        servo = "servo0"
                        direction = "left"
                        send = True
                        print("Left")
                     elif absevent.event.value == 255:
                        servo = "servo0"
                        direction = "right"
                        send = True
                        print("Right")
                     elif absevent.event.value == 127:
                        send = False

                elif ecodes.bytype[absevent.event.type][absevent.event.code] == "ABS_Y":
                     if absevent.event.value == 0:
                        servo = "servo1"
                        direction = "up"
                        send = True
                        print("Up")
                     elif absevent.event.value == 255:
                        servo = "servo1"
                        direction = "down"
                        send = True
                        print("Down")
                     elif absevent.event.value == 127:
                        send = False
    except KeyboardInterrupt:
        ws.close()