NAME

UAV::Pilot::SDL::Joystick

SYNOPSIS

my $condvar = AnyEvent->condvar;
my $event = UAV::Pilot::Events->new({
    condvar => $condvar,
});
my $easy_event = UAV::Pilot::EasyEvent->new({
    condvar => $condvar,
});
my $sdl_events = UAV::Pilot::SDL::Events->new({
    condvar => $condvar,
});
$events->register( $sdl_events );

my $control = UAV::Pilot::Controller::ARDrone->new( ... );
my $joy = UAV::Pilot::SDL::Joystick->new({
    condvar    => $condvar,
    events     => $events,
    conf_path  => '/path/to/config.yml', # optional
});
$events->register( $joy );

# Capture joystick movements in EasyEvent
$events->add_event( UAV::Pilot::SDL::Joystick->EVENT_NAME, sub {
    my ($args) = @_;
    my $joystick_num = $args->{joystick_num};
    my $roll         = $args->{roll};
    my $pitch        = $args->{pitch};
    my $yaw          = $args->{yaw};
    my $throttle     = $args->{throttle};
    my @buttons      = @{ $args->{buttons} };
    ...
});

DESCRIPTION

Handles joystick control for SDL joysticks. This does the role UAV::Pilot::EventHandler, so it can be passed to <UAV::Pilot::Events-register()>>. It's recommended to also add the UAV::Pilot::SDL::Events handler to the events object, as that will take care of the SDL_QUIT events. Without that, there's no way to stop the process other than kill -9.

Joystick configuration will be loaded from a YAML config file. You can find the path with <UAV::Pilot-default_config_dir()>>. If the file does not exist, it will be created automatically.

Joystick movements are sent over EasyEvent. The event name is specified in the EVENT_NAME constant in this package. See the SYNOPSIS for the argument list.

CONFIGURATION FILE

The config file is in YAML format. It contains the following keys:

joystick_num

The SDL joystick number to use

pitch_axis

Axis number of joystick to use for pitch.

roll_axis

Axis number of joystick to use for roll.

yaw_axis

Axis number of joystick to use for yaw.

throttle_axis

Axis number of joystick to use for throttle.

btn_action_map

This is a mapping of button numbers to some kind of action, such as takeoff/land or flip. The format is "btn_num: action". Actions are:

• takeoff_land

• emergency

• wave

• flip_ahead

• flip_behind

• flip_left

• flip_right

Axis Corrections

These can be used to cut the inputs by a percentage. All should be numbers between 1.0 and -1.0, with negative numbers reversing the axis.

roll_correction

pitch_correcton

yaw_correction

throttle_correction