dora/node-hub/gamepad/README.md

• Gamepad Node
• • Features
  • Getting Started
  • • Prerequisites
    • Installation
    • Running the Node
  • Usage
  • • Controls
    • YAML Specification
    • Outputs
  • Development
  • • Code Style
    • Testing
  • Troubleshooting
  • License
  • Acknowledgments

Gamepad Node

A Dora framework node that provides universal gamepad control functionality. While tested primarily with the Logitech F710 wireless controller, it supports any standard gamepad/joystick.

Features

• Universal gamepad support (USB/Wireless)
• Auto-detection of connected controllers
• Configurable axis mapping for different controllers
• Dead zone handling for precise control
• Real-time velocity command output
• Clean shutdown with automatic zero velocity
• Customizable speed limits
• Default configuration optimized for Logitech F710

Getting Started

Prerequisites

• Python 3.8 or higher
• Dora Framework 0.3.6 or higher
• Any compatible USB/Wireless gamepad

Installation

1. Install the package:

pip install -e .

2. Ensure your Logitech F710 is:
   • Connected via USB receiver
   • Powered on

Running the Node

1. Basic usage:

dora build demo.yml --uv

dora run demo.yml --uv

2. Check the controller is detected:

ls /dev/input/js*  # Should show your controller

If port is not executable then run

sudo chmod +x /dev/input/js*

Usage

Controls

• Left Stick Y-Axis: Forward/Backward movement (±2.0 m/s)
• Left Stick X-Axis: Left/Right turning (±1.5 rad/s)
• Deadzone: 5% to prevent drift

YAML Specification

nodes:
  - id: gamepad
    build: pip install -e .
    path: gamepad
    outputs:
      - cmd_vel  # Velocity commands [vx, vy, vz, wx, wy, wz]
    inputs:
      tick: dora/timer/millis/10  # Update rate

Outputs

The node outputs cmd_vel as a 6-element array:

• [0]: Linear X velocity (forward/backward)
• [1]: Linear Y velocity (always 0)
• [2]: Linear Z velocity (always 0)
• [3]: Angular X velocity (always 0)
• [4]: Angular Y velocity (always 0)
• [5]: Angular Z velocity (turning)

Development

Code Style

Format code using ruff:

ruff check . --fix

Testing

Run tests with pytest:

pytest .

Troubleshooting

No gamepad detected:

• Check USB receiver connection
• Ensure controller is powered on
• Verify mode switch position

If port is not executable then run:

sudo chmod +x /dev/input/js*

License

Released under the MIT License. See LICENSE file for details.

Acknowledgments

• Uses Pygame for joystick handling
• Built with the Dora framework
• Designed for Logitech F710 gamepad