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Control Pepper QiSDK with a gamepad, or Bluetooth enabled device
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softbankrobotics-labs/pepper-gamepad
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This Android Library will help you to connect an external controller and map buttons in order to make a Pepper move, using the QiSDK.
This library was tested with a Xbox One Controller, but can be used with any Bluetooth input device.
This video was filmed at SoftBank Robotics Europe, and shows the basic control scheme while navigating around the SBRE Showroom.
A robotified project for Pepper with QiSDK. Read thedocumentation if needed
A connection to an external controller.
- Turn on the Bluetooth for the Android Tablet on Pepper.
- Set you controller to pairing mode. This will differ between devices, please check the instructions for your specific device if unsure.
- In the Tablet settings, navigate to Bluetooth Settings, find the device and pair it.
The project comes complete with a sample project. You can clone the repository, open it in Android Studio, and run this directly onto a Robot.
The sample application will handle the case where the controller is not connected, you can use a similar function in your own application.
Because any number of external controllers can be used, and the mapping needed may be different, it is necessary to overrideonGenericMotionEvent and pass the values to theRemoteRobotController in thepepper-gamepad library.
Full implementation details are available to see in the sample project.
Make sure to replace 'Tag' by the number of the version of the library you want to use.
This README assumes some standard setup can be done by the user, such as initialising variables or implementing code in the correct functions. Refer to the Sample Project for full usage code.
Initialise the QISDK in the onCreate. If you are unsure how to do this, refer to theQISDK tutorials
QiSDK.register(this, this)In theonRobotFocusGained, disable BasicAwareness, and instantiate aRemoteRobotController object by passing it the QiContext. Then start it.
override fun onRobotFocusGained(qiContext: QiContext) { val basicAwarenessHolder = HolderBuilder.with(qiContext) .withAutonomousAbilities(AutonomousAbilitiesType.BASIC_AWARENESS) .build() basicAwarenessHolder.async().hold().thenConsume { when { it.isSuccess -> Log.i(TAG, "BasicAwareness held with success") it.hasError() -> Log.e(TAG, "holdBasicAwareness error: " + it.errorMessage) it.isCancelled -> Log.e(TAG, "holdBasicAwareness cancelled") } } remoteRobotController = RemoteRobotController(qiContext) remoteRobotController.start()}Get the position of the controller and call updateTarget method. It is important to call this function in a thread, as it is using references to the QISDK.
remoteRobotController.updateTarget(leftJoystickX, leftJoystickY, rightJoystickX, rightJoystickY)- Left joystick makes Pepper translate
- Right joystick makes Pepper rotate
Example :
override fun onGenericMotionEvent(event: MotionEvent): Boolean { // Add null protection for when the controller disconnects val inputDevice = event.device ?: return super.onGenericMotionEvent(event) // Get left joystick coordinates val leftJoystickX = getCenteredAxis(event, inputDevice, MotionEvent.AXIS_X) val leftJoystickY = getCenteredAxis(event, inputDevice, MotionEvent.AXIS_Y) // Get right joystick coordinates val rightJoystickX = getCenteredAxis(event, inputDevice, MotionEvent.AXIS_Z) val rightJoystickY = getCenteredAxis(event, inputDevice, MotionEvent.AXIS_RZ) if (::remoteRobotController.isInitialized) { thread { remoteRobotController.updateTarget(leftJoystickX, leftJoystickY, rightJoystickX, rightJoystickY) } } return true }private fun getCenteredAxis(event: MotionEvent, device: InputDevice, axis: Int): Float { val range: InputDevice.MotionRange? = device.getMotionRange(axis, event.source) // A joystick at rest does not always report an absolute position of // (0,0). Use the getFlat() method to determine the range of values bounding the joystick axis center. range?.apply { val value = event.getAxisValue(axis) // Ignore axis values that are within the 'flat' region of the joystick axis center. if (Math.abs(value) > flat) { return value } } return 0f }You can stopRemoteRobotController object whenever you want by calling thestop() method. This can be helpfull if you want to run animations for instance:
remoteRobotController.stop()myCustomAnimation.run()remoteRobotController.start()This project is licensed under the BSD 3-Clause "New" or "Revised" License- see theCOPYING file for details
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Control Pepper QiSDK with a gamepad, or Bluetooth enabled device
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