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* some common changes * rename to joystick * add alert and update controlsd to work with joystick * update joystickd * Update Joystick readme * assume we have inputs * only send gb or steer when engaged_toggle is true * Update instructions * fix --ip * Easier to understand at a glance * much better * -a * receive events and send msg in same loop * always import * Update selfdrive/controls/lib/events.py Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com> * Update selfdrive/controls/lib/events.py Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com> * combine logic and clean up * use argparse * outdated, and use normal class * rm * bit of a refactor * refactor part 2 / 3 * much better (3 / 3) * Simplify * bump cereal and update readme * capitalize * Update tools/joystick/joystickd.py Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com> * Update tools/joystick/joystickd.py Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com> * make joystick abstraction class clearer * use interp, clearer without comments * no need to use apply_deadzone * more explicit * define btns and axes once * split function by use_keyboard again, but simpler * we can use handle_button as a reset function * need to flip sign * remove * invert axes map for kb, easier to read the button mapping * apply changes from review * new lateral log for debug mode * bump * add saturated * static alert * joystick_mode * conditionally subscribe * Update selfdrive/controls/controlsd.py Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com> * move params instantiation * Spoof active and enabled * Only allow car to engage * no startup alert if joystick * Update controlsd.py * Should be orange not enabled, green enabled * no more button states * should work * blue * submaster conflates, so only send when we have an update * final change * remove msg * clean up a bit sort of clean up clean up a bit remove msg * this was right * Apply suggestions from code review Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com> * lowercase * suggestions from code review * forgot laptop * bump to latest * fixes Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com> Co-authored-by: vanillagorillaa <31773928+vanillagorillaa@users.noreply.github.com> |
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README.md
Joystick
Hardware needed: comma two devkit, laptop, joystick (optional)
With joystickd, you can connect your laptop to your comma device over the network and debug controls using a joystick or keyboard, however a joystick is recommended for more precise control.
Using a keyboard
To get started, ssh into your comma device and start joystickd with the following command:
tools/joystick/joystickd.py --keyboard
The available buttons and axes will print showing their key mappings. In general, the WASD keys control gas and brakes and steering torque in 5% increments.
Using a joystick
In order to use a joystick over the network, we need to run joystickd locally from your laptop and have it send testJoystick ZMQ packets over the network to the comma device. First connect a compatible joystick to your PC; joystickd uses inputs which supports many common gamepads and joysticks.
- Connect your laptop to your comma device's hotspot and open a new ssh shell. Since joystickd is being run on your laptop, we need to write a parameter to let controlsd know to start in joystick debug mode:
# on your comma device echo -n "1" > /data/params/d/JoystickDebugMode - Run bridge with your laptop's IP address. This republishes the
testJoystickpackets sent from your laptop so that openpilot can receive them:# on your comma device cereal/messaging/bridge {LAPTOP_IP} testJoystick - Finally, start joystickd on your laptop and tell it to publish ZMQ packets over the network:
# on your laptop export ZMQ=1 tools/joystick/joystickd.py
Now start your car and openpilot should go into debug mode with an alert on startup! The status of the axes will display on the alert, while button statuses print in the shell.
Make sure the conditions are met in the panda to allow controls (e.g. cruise control engaged). You can also make a modification to the panda code to always allow controls.
