> For the complete documentation index, see [llms.txt](https://acolor-bluerov2.gitbook.io/acolor-bluerov2/llms.txt). Markdown versions of documentation pages are available by appending `.md` to page URLs; this page is available as [Markdown](https://acolor-bluerov2.gitbook.io/acolor-bluerov2/topside-computer/controllers/gamepad.md).

# Gamepad

description of the file gamepad.py

The class Gamepad handle event from the Logitech Gamepad F310 connected by USB to topside computer. Build to test ROS implementation before we can connect ROS in parallel of QGroundControl (QGC). 

{% hint style="info" %}
If you launch QGC at the same time of ROS : Disable gamepad from QGC or not launch the gamepad file.
{% endhint %}

## Library

The class Gamepad uses the library input from <https://github.com/zeth/inputs> to handle gamepad joystick and buttons.

This library comes with the github ROS repository but you will need to build it by&#x20;

```
cd PATH2package/src/controllers/inputs
python setup.py install
```

Otherwise you can install it with pip:

```
pip install inputs
```

## Logitech F310

{% hint style="info" %}
Be sure that the slider at the back of the controller is at D side
{% endhint %}

## How it's working

The inputs library provides API to handle the events from gamepad. Based on the event's name, a dictionary provide a link between the name of the event and the method to call.&#x20;

### Assignation table

| Gamepad event name | Method called          | Designation            | Value                     | ArduSub/MAVlink id     |
| ------------------ | ---------------------- | ---------------------- | ------------------------- | ---------------------- |
| ABS\_Y             | \_throttle             | LEFT stick vertical    | \[0-128-255]              | clicked Joy : 7        |
| ABS\_X             | \_lateral              | LEFT stick horizontal  | \[0-128-255]              | clicked Joy : 8        |
| ABS\_RZ            | \_forward              | RIGHT stick vertical   | \[0-128-255]              | /                      |
| ABS\_Z             | \_yaw                  | RIGHT stick horizontal | \[0-128-255]              | /                      |
| ABS\_HAT0Y         | \_NDEF                 | LEFT cross vertical    | -1 up; 0 neutral; +1 down | up : 11 ; down : 12    |
| ABS\_HAT0X         | \_set\_gain\_light     | LEFT cross horizontal  | -1 up; 0 neutral; +1 down | left : 13 ; right : 14 |
| BTN\_TRIGGER       | \_override\_controller | X                      | 0 ; 1                     | 2                      |
| BTN\_TOP1          | \_NDEF                 | Y                      | 0 ; 1                     | 3                      |
| BTN\_THUMB         | \_NDEF                 | A                      | 0 ; 1                     | 1                      |
| BTN\_THUMB2        | \_NDEF                 | B                      | 0 ; 1                     | 0                      |
| BTN\_BASE          | \_NDEF                 | LT                     | 0 ; 1                     | /                      |
| BTN\_BASE2         | \_NDEF                 | RT                     | 0 ; 1                     | /                      |
| BTN\_TOP2          | \_cam\_down            | LB                     | 0 ; 1                     | 9                      |
| BTN\_PINKIE        | \_cam\_up              | RB                     | 0 ; 1                     | 10                     |
| BTN\_BASE3         | \_disarm               | BACK                   | 0 ; 1                     | 4                      |
| BTN\_BASE4         | \_arm                  | START                  | 0 ; 1                     | 6                      |

## **ROS**

### Node

Gamepad

### Topics

| ROS topics subscribed | Message | Description    |
| :-------------------: | :-----: | -------------- |
|     /BlueRov2/arm     |   Bool  | The arm status |

| ROS topics published |      Message     | Description                                                                                                                                  |
| :------------------: | :--------------: | -------------------------------------------------------------------------------------------------------------------------------------------- |
|     /Command/joy     | sensor\_msgs/Joy | <p>axes : \[THROTTLE, YAW, FORWARD, LATERAL]</p><p>buttons : \[ARM, OVERRIDE\_CONTROLLER, PWM\_CAM, LIGHT\_DEC, LIGHT\_INC, GAIN\_LIGHT]</p> |

| Joy message parameters | Type    | Description                                  |
| ---------------------- | ------- | -------------------------------------------- |
| THROTTLE               | Float32 | pwm : Uint16  \[1100-1900]range              |
| YAW                    | Float32 | pwm : Uint16  \[1100-1900]range              |
| FORWARD                | Float32 | pwm : Uint16  \[1100-1900]range              |
| LATERAL                | Float32 | pwm : Uint16  \[1100-1900]range              |
| ARM                    | Int32   | 0 : disarm ; 1 : arm                         |
| OVERRIDE\_CONTROLLER   | Int32   | 0 : AUTOMATIC mode, 1 : MANUAL mode          |
| PWM\_CAM               | Int32   | pwm for camera tilt                          |
| LIGHT\_DEC             | Int32   | 1 if you want to decrease brightness, else 0 |
| LIGHT\_INC             | Int32   | 1 if you want to increase brightness, else 0 |
| GAIN\_LIGHT            | Int32   | result of gain light                         |

{% hint style="info" %}
The LIGHT\_DEC, LIGHT\_INC, GAIN\_LIGHT parameters are not used
{% endhint %}