Published July 19, 2015 © Apache-2.0

UDOO-RC-CAR

Xbox Controller Controlled RC-car

AdvancedFull instructions provided7,109

Things used in this project

Hardware components

UDOO QUAD

Or Dual

Solder

Wire

Rc car

Arduino Motor Shield

Software apps and online services

Arduino

Hand tools and fabrication machines

Scissors/Strippers

Soldering iron (generic)

Monitor

Screw driver

XBOX Wireless Controller

Story

Hey did you ever want to build your own custom Rc-Car, but it was complicated, What was the motor-controller going to be? What would control that? what would power that? what would send a signal to that? Eventually reaching the end you know what you want to get but don't know where to start programming. Well i was practically on the same boat, here is a tutorial which will go through almost every step of the way to build yourself a UDOO controlled RC car.

Prerequisites:

A keyboard and mouse
A Xbox wireless controller
A Xbox wireless controller receiver(usb)
Lots of AA's
Some soldering skills with a Soldering iron
Some basics understanding of how the steering of your RC car works
A Rc car that has enough room inside or on top to support the UDOO
A Rc car with at least 7 AA slots, if not i'll show you a fix later on
Some programming/python programming knowledge
A power source

UDOO-RC-CAR

A RC Car programmed in Arduino, Python, and terminal

As said above at least 7 batteries are needed, so if not on Rc already add a generic 2 AA battery holder and connect it to the other batteries in a Series Circuit not parallel

If you don't want an IP camera you are done just skip this part and screw on the top of your RC car, By the way (not in the photos) add a switch to the batteries so you can turn your car of and on

WHAT YOU NEED(Software)

Libraries for ubuntu/linux

Make sure everything is plugged in

USBLIB

 sudo apt-get install libusb-1.0-0-dev
  sudo apt-get install libusb-dev

GNU

 sudo apt-get install build-essential

PYGAME

 sudo apt-get install python-pygame

PYTHON 2.7 Dependencies

 sudo apt-get install build-essential
        sudo apt-get install libreadline-gplv2-dev libncursesw5-dev libssl-dev libsqlite3-dev tk-dev libgdbm-dev libc6-dev libbz2-dev

Then download using the following command:

 cd ~/Downloads/
        wget http://python.org/ftp/python/2.7.5/Python-2.7.5.tgz
        Extract and go to the dirctory:

        tar -xvf Python-2.7.5.tgz
        cd Python-2.7.5

Now, install using the command you just tried:

 ./configure
        make
        sudo make install

GSTREAMER

 sudo add-apt-repository ppa:gstreamer-developers/ppa
  sudo apt-get update
  sudo apt-get install gstreamer1.0*

g++

 sudo apt-get install g++

XBOXDRV

 sudo add-apt-repository ppa:grumbel/ppa

  sudo apt-get update && sudo apt-get install xboxdrv

  gksu gedit /etc/modprobe/blacklist.conf

  blacklist xpad

  sudo rmmod xpad

  sudo xboxdrv --silent

or sudo xboxdrv --silent --detach-kernel-driver

Other packages will be needed to install these packages

By the way if you have a camera module look up on google motion, or how to install motion to simulate a ip camera, I won't go over how to simulate a ip camera on the udoo module, unless people want me to add it

// All of these set the pin locations
int Direction = 12; //Set Direction of motor
int turnDir = 13;
int turnpower = 11;
int turnbrake = 8;
int Speed = 3; //Set speed of motor value of 0 to 255 analog
int Brake = 9; // Brake for motor usually unused so I always let sit 0
void setup(){
	// This defines the speed of arduino serial
	Serial.begin(115200);
	// These set modes of pins
	pinMode(Direction, OUTPUT);
	pinMode(Speed, OUTPUT);
	pinMode(Brake, OUTPUT);
	pinMode(turnbrake, OUTPUT);
	pinMode(turnDir, OUTPUT);
	pinMode(turnpower, OUTPUT);
	// Ininitalizes pins. Not moving
	digitalWrite(turnDir, LOW);
	digitalWrite(turnbrake, LOW);
	digitalWrite(Brake, LOW);
	analogWrite(Speed, 0);
	analogWrite(turnpower, 0);
// Wait for python script to start. Makes sure arudino doesn't overheat
while(Serial.read() != '1'){
	delay(100); 
}
}
void loop(){
	int a = Serial.read();
	// All of these are basically power levels. 0 is off, 6 is full power (forward)
	if(a == '0'){
		digitalWrite(Direction, LOW);
		analogWrite(Speed, 0);
		digitalWrite(turnDir, HIGH);
		analogWrite(turnpower, 0);
	}
	if(a == '1'){
		digitalWrite(Direction, LOW);
		analogWrite(Speed, 75);
	}
	if(a == '2'){
		digitalWrite(Direction, LOW);
		analogWrite(Speed, 155);
	}
	if(a == '3'){
		digitalWrite(Direction, HIGH);
		analogWrite(Speed, 55);
	}
	if(a == '4'){
		digitalWrite(Direction, HIGH);
		analogWrite(Speed, 145);
	}
	if(a == '5'){
		digitalWrite(Direction, HIGH);
		analogWrite(Speed, 255);
	}
	if(a == '6'){
		digitalWrite(Direction, LOW);
		analogWrite(Speed, 255);
	}
	// 7 and 8 are turning, 7 is left, 8 is right
	if(a == '7'){
		digitalWrite(turnDir, LOW);
		analogWrite(turnpower, 200);
	}
	if(a == '8'){
		digitalWrite(turnDir, HIGH);
		analogWrite(turnpower, 200);
	}
delay(15);
}

from time import sleep
import XboxController
import serial
import pygame
due = serial.Serial("/dev/ttymxc3", 115200) # Points at serial port and sets speed
due.write('1') 
def myCallBack(controlId, value):
	if controlId == 1 and 0.3 < value < 0.5:
		due.write('1')
	elif controlId == 1 and 0.5 <= value < 0.7:
		due.write('2')
	elif controlId == 1 and -0.5 < value < -0.3:
		due.write('3')
	elif controlId == 1 and -0.7 <= value <-0.5:
		due.write('4')
	elif controlId == 1 and value <= -0.7:
		due.write('5')
	elif controlId == 1 and 0.7 <= value:
		due.write('6')
	elif controlId == 0 and 0.3 < value:
		due.write('7')
	elif controlId == 0 and -0.3 < value:
		due.write('8')
	else :
		due.write('0')
xboxCont = XboxController.XboxController(
	controllerCallBack = myCallBack,
	joystickNo = 0,
	deadzone = 0.1,
	scale = 1,
	invertYAxis = True)
xboxCont.start()
try:
	while True:
		myCallBack
		sleep(0.015)
catch KeyboardInterrupt:
	xboxCont.stop()

import pygame
from pygame.locals import *
import os, sys
import threading
import time

"""
NOTES - pygame events and values
JOYAXISMOTION
event.axis              event.value
0 - x axis left thumb   (+1 is right, -1 is left)
1 - y axis left thumb   (+1 is down, -1 is up)
2 - x axis right thumb  (+1 is right, -1 is left)
3 - y axis right thumb  (+1 is down, -1 is up)
4 - right trigger
5 - left trigger
JOYBUTTONDOWN | JOYBUTTONUP
event.button
A = 0
B = 1
X = 2
Y = 3
LB = 4
RB = 5
BACK = 6
START = 7
XBOX = 8
LEFTTHUMB = 9
RIGHTTHUMB = 10
JOYHATMOTION
event.value
[0] - horizontal
[1] - vertival
[0].0 - middle
[0].-1 - left
[0].+1 - right
[1].0 - middle
[1].-1 - bottom
[1].+1 - top
"""
#Main class for reading the xbox controller values
class XboxController(threading.Thread):

    #internal ids for the xbox controls
    class XboxControls():
        LTHUMBX = 0
        LTHUMBY = 1
        RTHUMBX = 2
        RTHUMBY = 3
        RTRIGGER = 4
        LTRIGGER = 5
        A = 6
        B = 7
        X = 8
        Y = 9
        LB = 10
        RB = 11
        BACK = 12
        START = 13
        XBOX = 14
        LEFTTHUMB = 15
        RIGHTTHUMB = 16
        DPAD = 17

    #pygame axis constants for the analogue controls of the xbox controller
    class PyGameAxis():
        LTHUMBX = 0
        LTHUMBY = 1
        RTHUMBX = 2
        RTHUMBY = 3
        RTRIGGER = 4
        LTRIGGER = 5

    #pygame constants for the buttons of the xbox controller
    class PyGameButtons():
        A = 0
        B = 1
        X = 2
        Y = 3
        LB = 4
        RB = 5
        BACK = 6
        START = 7
        XBOX = 8
        LEFTTHUMB = 9
        RIGHTTHUMB = 10

    #map between pygame axis (analogue stick) ids and xbox control ids
    AXISCONTROLMAP = {PyGameAxis.LTHUMBX: XboxControls.LTHUMBX,
                      PyGameAxis.LTHUMBY: XboxControls.LTHUMBY,
                      PyGameAxis.RTHUMBX: XboxControls.RTHUMBX,
                      PyGameAxis.RTHUMBY: XboxControls.RTHUMBY}
    
    #map between pygame axis (trigger) ids and xbox control ids
    TRIGGERCONTROLMAP = {PyGameAxis.RTRIGGER: XboxControls.RTRIGGER,
                         PyGameAxis.LTRIGGER: XboxControls.LTRIGGER}

    #map between pygame buttons ids and xbox contorl ids
    BUTTONCONTROLMAP = {PyGameButtons.A: XboxControls.A,
                        PyGameButtons.B: XboxControls.B,
                        PyGameButtons.X: XboxControls.X,
                        PyGameButtons.Y: XboxControls.Y,
                        PyGameButtons.LB: XboxControls.LB,
                        PyGameButtons.RB: XboxControls.RB,
                        PyGameButtons.BACK: XboxControls.BACK,
                        PyGameButtons.START: XboxControls.START,
                        PyGameButtons.XBOX: XboxControls.XBOX,
                        PyGameButtons.LEFTTHUMB: XboxControls.LEFTTHUMB,
                        PyGameButtons.RIGHTTHUMB: XboxControls.RIGHTTHUMB}
                        
    #setup xbox controller class
    def __init__(self,
                 controllerCallBack = None,
                 joystickNo = 0,
                 deadzone = 0.1,
                 scale = 1,
                 invertYAxis = True):

        #setup threading
        threading.Thread.__init__(self)
        
        #persist values
        self.running = False
        self.controllerCallBack = controllerCallBack
        self.joystickNo = joystickNo
        self.lowerDeadzone = deadzone * -1
        self.upperDeadzone = deadzone
        self.scale = scale
        self.invertYAxis = invertYAxis
        self.controlCallbacks = {}

        #setup controller properties
        self.controlValues = {self.XboxControls.LTHUMBX:0,
                              self.XboxControls.LTHUMBY:0,
                              self.XboxControls.RTHUMBX:0,
                              self.XboxControls.RTHUMBY:0,
                              self.XboxControls.RTRIGGER:0,
                              self.XboxControls.LTRIGGER:0,
                              self.XboxControls.A:0,
                              self.XboxControls.B:0,
                              self.XboxControls.X:0,
                              self.XboxControls.Y:0,
                              self.XboxControls.LB:0,
                              self.XboxControls.RB:0,
                              self.XboxControls.BACK:0,
                              self.XboxControls.START:0,
                              self.XboxControls.XBOX:0,
                              self.XboxControls.LEFTTHUMB:0,
                              self.XboxControls.RIGHTTHUMB:0,
                              self.XboxControls.DPAD:(0,0)}

        #setup pygame
        self._setupPygame(joystickNo)

    #Create controller properties
    @property
    def LTHUMBX(self):
        return self.controlValues[self.XboxControls.LTHUMBX]

    @property
    def LTHUMBY(self):
        return self.controlValues[self.XboxControls.LTHUMBY]

    @property
    def RTHUMBX(self):
        return self.controlValues[self.XboxControls.RTHUMBX]

    @property
    def RTHUMBY(self):
        return self.controlValues[self.XboxControls.RTHUMBY]

    @property
    def RTRIGGER(self):
        return self.controlValues[self.XboxControls.RTRIGGER]

    @property
    def LTRIGGER(self):
        return self.controlValues[self.XboxControls.LTRIGGER]

    @property
    def A(self):
        return self.controlValues[self.XboxControls.A]

    @property
    def B(self):
        return self.controlValues[self.XboxControls.B]

    @property
    def X(self):
        return self.controlValues[self.XboxControls.X]

    @property
    def Y(self):
        return self.controlValues[self.XboxControls.Y]

    @property
    def LB(self):
        return self.controlValues[self.XboxControls.LB]

    @property
    def RB(self):
        return self.controlValues[self.XboxControls.RB]

    @property
    def BACK(self):
        return self.controlValues[self.XboxControls.BACK]

    @property
    def START(self):
        return self.controlValues[self.XboxControls.START]

    @property
    def XBOX(self):
        return self.controlValues[self.XboxControls.XBOX]

    @property
    def LEFTTHUMB(self):
        return self.controlValues[self.XboxControls.LEFTTHUMB]

    @property
    def RIGHTTHUMB(self):
        return self.controlValues[self.XboxControls.RIGHTTHUMB]

    @property
    def DPAD(self):
        return self.controlValues[self.XboxControls.DPAD]

    #setup pygame
    def _setupPygame(self, joystickNo):
        # set SDL to use the dummy NULL video driver, so it doesn't need a windowing system.
        os.environ["SDL_VIDEODRIVER"] = "dummy"
        # init pygame
        pygame.init()
        # create a 1x1 pixel screen, its not used so it doesnt matter
        screen = pygame.display.set_mode((1, 1))
        # init the joystick control
        pygame.joystick.init()
        # how many joysticks are there
        #print pygame.joystick.get_count()
        # get the first joystick
        joy = pygame.joystick.Joystick(joystickNo)
        # init that joystick
        joy.init()

    #called by the thread
    def run(self):
        self._start()

    #start the controller
    def _start(self):
        
        self.running = True
        
        #run until the controller is stopped
        while(self.running):
            #react to the pygame events that come from the xbox controller
            for event in pygame.event.get():

                #thumb sticks, trigger buttons                    
                if event.type == JOYAXISMOTION:
                    #is this axis on our xbox controller
                    if event.axis in self.AXISCONTROLMAP:
                        #is this a y axis
                        yAxis = True if (event.axis == self.PyGameAxis.LTHUMBY or event.axis == self.PyGameAxis.RTHUMBY) else False
                        #update the control value
                        self.updateControlValue(self.AXISCONTROLMAP[event.axis],
                                                self._sortOutAxisValue(event.value, yAxis))
                    #is this axis a trigger
                    if event.axis in self.TRIGGERCONTROLMAP:
                        #update the control value
                        self.updateControlValue(self.TRIGGERCONTROLMAP[event.axis],
                                                self._sortOutTriggerValue(event.value))
                        
                #d pad
                elif event.type == JOYHATMOTION:
                    #update control value
                    self.updateControlValue(self.XboxControls.DPAD, event.value)

                #button pressed and unpressed
                elif event.type == JOYBUTTONUP or event.type == JOYBUTTONDOWN:
                    #is this button on our xbox controller
                    if event.button in self.BUTTONCONTROLMAP:
                        #update control value
                        self.updateControlValue(self.BUTTONCONTROLMAP[event.button],
                                                self._sortOutButtonValue(event.type))
        
    #stops the controller
    def stop(self):
        self.running = False

    #updates a specific value in the control dictionary
    def updateControlValue(self, control, value):
        #if the value has changed update it and call the callbacks
        if self.controlValues[control] != value:
            self.controlValues[control] = value
            self.doCallBacks(control, value)
    
    #calls the call backs if necessary
    def doCallBacks(self, control, value):
        #call the general callback
        if self.controllerCallBack != None: self.controllerCallBack(control, value)

        #has a specific callback been setup?
        if control in self.controlCallbacks:
            self.controlCallbacks[control](value)
            
    #used to add a specific callback to a control
    def setupControlCallback(self, control, callbackFunction):
        # add callback to the dictionary
        self.controlCallbacks[control] = callbackFunction
                
    #scales the axis values, applies the deadzone
    def _sortOutAxisValue(self, value, yAxis = False):
        #invert yAxis
        if yAxis and self.invertYAxis: value = value * -1
        #scale the value
        value = value * self.scale
        #apply the deadzone
        if value < self.upperDeadzone and value > self.lowerDeadzone: value = 0
        return value

    #turns the trigger value into something sensible and scales it
    def _sortOutTriggerValue(self, value):
        #trigger goes -1 to 1 (-1 is off, 1 is full on, half is 0) - I want this to be 0 - 1
        value = max(0,(value + 1) / 2)
        #scale the value
        value = value * self.scale
        return value

    #turns the event type (up/down) into a value
    def _sortOutButtonValue(self, eventType):
        #if the button is down its 1, if the button is up its 0
        value = 1 if eventType == JOYBUTTONDOWN else 0
        return value
    
#tests
if __name__ == '__main__':

    #generic call back
    def controlCallBack(xboxControlId, value):
        print "Control Id = {}, Value = {}".format(xboxControlId, value)

    #specific callbacks for the left thumb (X & Y)
    def leftThumbX(xValue):
        print "LX {}".format(xValue)
    def leftThumbY(yValue):
        print "LY {}".format(yValue)

    #setup xbox controller, set out the deadzone and scale, also invert the Y Axis (for some reason in Pygame negative is up - wierd! 
    xboxCont = XboxController(controlCallBack, deadzone = 30, scale = 100, invertYAxis = True)

    #setup the left thumb (X & Y) callbacks
    xboxCont.setupControlCallback(xboxCont.XboxControls.LTHUMBX, leftThumbX)
    xboxCont.setupControlCallback(xboxCont.XboxControls.LTHUMBY, leftThumbY)

    try:
        #start the controller
        xboxCont.start()
        print "xbox controller running"
        while True:
            time.sleep(0.2)

    #Ctrl C
    except KeyboardInterrupt:
        print "User cancelled"
    
    #error        
    except:
        print "Unexpected error:", sys.exc_info()[0]
        raise
        
    finally:
        #stop the controller
        xboxCont.stop()

Credits

David Smerkous

8 projects • 87 followers

Currently an Artificial Intelligence Ph.D. student at Oregon State University. Long-time hardware enthusiast. Profile is old.

Thanks to Ingo Runke and Martin O'Hanlon.

UDOO-RC-CAR

Things used in this project

Hardware components

Software apps and online services

Hand tools and fabrication machines

Story

Prerequisites:

UDOO-RC-CAR

WHAT YOU NEED(Software)

Code

DUE.ino

Robot.py

Terminal Commands(Copy paste into terminal)

XboxController.py

Updated Code

Credits

David Smerkous

Comments

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UDOO-RC-CAR

UDOO-RC-CAR

Things used in this project

Hardware components

Software apps and online services

Hand tools and fabrication machines

Story

Prerequisites:

UDOO-RC-CAR

WHAT YOU NEED(Software)

Code

DUE.ino

Robot.py

Terminal Commands(Copy paste into terminal)

XboxController.py

Updated Code

Credits

David Smerkous

Comments

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