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#!/usr/bin/env pybricks-micropython

from pybricks.ev3devices import (Motor)

from pybricks.parameters import Port, Stop, Direction, Button, Color

from pybricks.tools import wait, StopWatch, DataLog

import struct

# This program uses the two PS4 sticks to control two EV3 Large Servo Motors using tank like controls

# Create your objects here.

left_motor = Motor(Port.B)

right_motor = Motor(Port.C)

left_speed = 0

right_speed = 0

# Locat the event file you want to react to, on my setup the PS4 controller button events

# are located in /dev/input/event4

infile_path = "/dev/input/event4"

in_file = open(infile_path, "rb")

# Define the format the event data will be read

# See https://docs.python.org/3/library/struct.html#format-characters for more details

FORMAT = 'llHHi'

EVENT_SIZE = struct.calcsize(FORMAT)

event = in_file.read(EVENT_SIZE)

# A helper function for converting stick values (0 to 255) to more usable numbers (-100 to 100)

def scale(val, src, dst):

return (float(val - src[0]) / (src[1] - src[0])) * (dst[1] - dst[0]) + dst[0]

# Create a loop to react to events

while event:

# Place event data into variables

(tv_sec, tv_usec, ev_type, code, value) = struct.unpack(FORMAT, event)

# If a button was pressed or released

if ev_type == 1:

# React to the X button

if code == 304 and value == 0:

print("The X button was released")

if code == 304 and value == 1:

print("The X button was pressed")

elif ev_type == 3: # Stick was moved

# React to the left stick

if code == 1:

left_speed = scale(value, (0,255), (100, -100))

# React to the right stick

if code == 4:

right_speed = scale(value, (0,255), (100, -100))

# Set motor speed

left_motor.dc(left_speed)

right_motor.dc(right_speed)

# Read the next event

event = in_file.read(EVENT_SIZE)

in_file.close()