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Ezward / Esp32CameraRover2

EzRover is a framework for building and programming inexpensive differential drive robots. The framework includes closed loop speed control, pose estimation and go to goal behavior. Behaviors can be added in JavaScript. The first hardware instantiation uses an ESP32cam, an L9110S DC Motor Driver and a cheap Robot Car chassis.
MIT License
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Implement bluetooth gamepad connection between Esp32Cam and PS3 controller. #9

Open Ezward opened 3 years ago

Ezward commented 3 years ago

Why As discussed in issue #8, we would like to reduce the input latency between the rover and the gamepad. Currently we are using a gamepad attached to the web application's browser, so it incurs the latency across the websocket connection. Further, we (in another issue) would like to implement a peer-to-peer FPV video solution, so attaching a gamepad to the browser would not make sense.

What Implement bluetooth gamepad connection between Esp32Cam and PS3 controller. See these:

We will need to turn the returned values into wheel speed (tank style) inputs from 0 to 1.0. We do this in the javascript code now. This involves a mapping of gamepad axis to command inputs. We should put this into config in a header file; they can be fairly static because we intend to use us a PS3 joystick for now. However, we do want these in constants so we could change them if we implement another gamepad.

See these javascript files for current gamepad implementation.

Compare the resulting input latency between the bluetooth gamepad implementation and the web application's HTML5 Gamepad API/Websocket implementation,

cgrrty commented 3 years ago

Hi Can both modes be supported（Retain the previous mode）， Let users choose. For users who require low latency, can use the PS3 controller For users who not require low latency, can use the web application controller I don't know if it will have any impact on the program.

Ezward commented 3 years ago

Yes, we will make it so the user can choose. I think I will add a panel to the Rover Control section that will facilitate pairing with a bluetooth gamepad. So it will be just one more input type.