Bragauche

This little project lets you drive the DexArm using a controller.

Software Setup

The project is written in Python and uses Poetry to handle dependencies, so you will need to install these first. Then,

poetry install

Customization

Currently, the project is configured for an Xbox controller. If you have a different game controller, you will most likely need to adapt the code so that your controller is recognised and the right buttons and axis are used.

You will most likely need to adapt controller:MainLoop.get_joystick and controller:MainLoop.joystick_state.

To help you with getting the right button and axis indexes, there is a little debugging program that you can start with

poetry run bragauche --joydbg notused

Running

You need to plug an XBox controller and connect the DexArm. The DexArm needs to be prepared with the rotary module and the pump.

poetry run bragauche <port>

where <port> is the DexArm serial port. This program has only been tested under Linux yet. On this platform <port> should most likely be /dev/ttyACM0. Under Windows, <port> should be COM3 or alike. On Mac, this should be something like /dev/tty.usbmodem<something>.

By default, the controller's left stick is used for X (up/down) and Y (left/right) control, while the right stick is used for Z (up/down) and rotate (left/right). Button A is to start suction, B is for release and Y is for blowing. There is currently no mapping for "stopping" (M1003).