A to swap vertical axes

joystick.py

 #!/usr/bin/env python3
 
 import pygame
-import math
 from websocket import create_connection
 
-#helper function to change joystick range of [0,1] to [0,255]
-def convertServo(OldValue):
-
-    OldMax = 1
-    OldMin = -1
-    NewMax = 255
-    NewMin = 0
-
-    OldRange = (OldMax - OldMin)
-    NewRange = (NewMax - NewMin)
-    NewValue = (((OldValue - OldMin) * NewRange) / OldRange) + NewMin
-
-    return int(NewValue)
 
-def convertThrust(OldValue):
+def rescale(oldValue, newMin=0, newMax=255):
+    oldMax = 1
+    oldMin = -1
 
-    OldMax = 1
-    OldMin = -1
-    NewMax = 255
-    NewMin = -255
+    oldRange = (oldMax - oldMin)
+    newRange = (newMax - newMin)
+    newValue = (((oldValue - oldMin) * newRange) / oldRange) + newMin
+    return int(newValue)
 
-    OldRange = (OldMax - OldMin)
-    NewRange = (NewMax - NewMin)
-    NewValue = (((OldValue - OldMin) * NewRange) / OldRange) + NewMin
-
-    return int(math.fabs(NewValue))
+#helper function to change joystick range of [0,1] to [0,255]
+def convertServo(axis):
+    return rescale(joystick.get_axis(axis), 0, 180 )
 
+def convertThrust(data):
+    return abs(rescale(data, -255, 255))
 
 #helper function to assign the proper hbridge values
 def convertHBridge(data):
-
     if data > 0:
         return [1,0]
     else:
-        return[0,1]
-
+        return [0,1]
 
 def convertAxis(axis):
-    value = joystick.get_axis(axis)*-1
-    return convertHBridge(value) + [ convertThrust(value) ]
+    data = joystick.get_axis(axis)*-1
+    return convertHBridge(data) + [ convertThrust(data) ]
 
 
 if __name__ == "__main__":
-
     target = "ws://192.168.4.1:81"
     #Set up connection to Blimp Board over websocket
     #ws = create_connection(target)
@@ -57,6 +42,16 @@ if __name__ == "__main__":
     pygame.joystick.init()
     done = False
 
+    # Joystick axes
+    turn = 0
+    forward = 1
+    vertical = 3
+    vertical_alt = 4
+    camera_l = 2
+    camera_r = 5
+
+    debounce = 0
+
     while not done:
         try:
             for event in pygame.event.get():
@@ -67,14 +62,19 @@ if __name__ == "__main__":
             joystick.init()
             axes = joystick.get_numaxes()
 
-            forward = 1
-            vertical = 3
-
-            turn = joystick.get_axis(0)
-
+            # Swap axes 3 and 4 on 'A' button push [ windowns vs linux ]
+            if joystick.get_button(0) and not debounce:
+                v = vertical_alt
+                vertical_alt = vertical
+                vertical = v
+                debounce = 20
+            if debounce: debounce -= 1
 
             #Create a new binary code to send to blimp
-            cmd = [126] + convertAxis(forward) + [ convertServo(turn) ] + convertAxis(vertical) + [127]
+            cmd = [126] + convertAxis(forward) + \
+                          [ convertServo(turn) ] + \
+                          convertAxis(vertical) + \
+                          [ (180 - convertServo(camera_l) + convertServo(camera_r)) // 2 ]
 
             print(cmd)
             #ws.send_binary(cmd)