SunFounder PiArm, Manual, Page: 121 / 163

Piarm, Release 1.0
(continued from previous page)
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.
4.4.2 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.
4.4. Dual Joystick Module Control 117