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7-ExamplesRobotsUsing/320M5_EN.md

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+# 320M5 handle remote control case
+
+**Function description**: Use the game controller to control the robot to perform coordinate movement and suction pump switch
+
+## 1 Suction pump installation
+First install the suction pump to the end of the robot arm
+
+<img src="./img/pump1.jpg" width="60%" height="60%" alt="">
+
+Then connect the suction pump control box line to the base IO of the robot arm
+
+<img src="./img/pump2.png" width="60%" height="60%" alt="">
+
+## 2 Suction pump test
+```python
+from pymycobot import MyCobot,utils
+import time
+arm=MyCobot(utils.get_port_list()[0])
+for i in range(1):
+    arm.set_basic_output(1,0)#Turn on the suction pump
+    time.sleep(2)
+    arm.set_basic_output(1,1)#Turn off the suction pump
+    time.sleep(2)
+```
+
+## 3 Controller function description
+**Note**: The controller needs to be purchased separately, please consult the official customer service for details
+
+<img src="./img/joy.jpg" width="60%" height="60%" alt="">
+
+Plug the receiver of the handle into the computer
+
+|Button|Function|
+|---|---|
+|Press the direction key↑|RY positive movement|
+|Press the direction key↓|RY negative movement|
+|Press the direction key←|RX positive movement|
+|Press the direction key→|RX negative movement|
+|Push the left joystick↑|X positive movement|
+|Push the left joystick↓|X negative movement|
+|Push the left joystick←|Y positive movement|
+|Push the left joystick→|Y negative movement|
+|Push the right joystick↑|Z positive movement|
+|Push the right joystick↓|Z negative movement|
+|Push the right joystick←|RZ positive movement|
+|Push the right joystick→|RZ negative movement|
+|Press the Y key|Turn on the suction pump|
+|Press the A key|Turn off the suction pump|
+
+**Note**: Some handle buttons are not used, so they will not have any effect on the robot arm
+
+## 4 Installation of handle dependency library
+Open the terminal and enter the following command to install the handle driver library
+```bash
+pip install pygame
+```
+## 5 Preparation
+Adjust the robot arm to the posture shown in the figure below. There should be no debris around the robot arm to avoid collision
+
+<img src="./img/320.jpg" width="60%" height="60%" alt="">
+
+Note that the screen of the robot arm seat should display ok
+
+<img src="./img/ok.png" width="60%" height="60%" alt="">
+
+Turn on the switch of the handle
+
+<img src="./img/joy_on.png" width="60%" height="60%" alt="">
+
+Note whether the MODE LED of the handle is on
+
+<img src="./img/joy_led.png" width="60%" height="60%" alt="">
+
+**Note**: Only MODE The LED lights up before you can control the robot arm. If the handle is not used for a long time, it will enter the standby state. You can press the START button of the handle to activate it.
+
+<img src="./img/joy_start.png" width="60%" height="60%" alt="">
+
+## 5 Case program
+```python
+import pygame
+import sys
+from pymycobot import MyCobot,utils
+mc=MyCobot(utils.get_port_list()[0])
+init_angles=[0, 0, -90, 0, 90, 0]
+mc.sync_send_angles(init_angles,50)
+pygame.init()
+pygame.joystick.init()
+button_pressed = False
+hat_pressed=False
+previous_state = [0,0,0,0,0,0] 
+
+def joy_handler():
+        global button_pressed
+        global hat_pressed
+        global previous_state
+        if event.type == pygame.JOYAXISMOTION:
+            axis = event.axis  
+            value = round(event.value, 2)  
+            if abs(value) > 0.1:  
+                flag = True
+                previous_state[axis] = value  
+                if axis==0 and value==-1.00:
+                    mc.jog_coord(2,1,50)
+                elif axis==0 and value==1.00:
+                    mc.jog_coord(2,0,50)
+                if axis==1 and value==1.00:
+                    mc.jog_coord(1,0,50)
+                elif axis==1 and value==-1.00:
+                    mc.jog_coord(1,1,50)
+                if axis==2 and value==1.00:
+                    mc.jog_coord(6,1,50)
+                elif axis==2 and value==-1.00:
+                    mc.jog_coord(6,0,50)                    
+                if axis==3 and value==1.00:
+                    mc.jog_coord(3,0,50)
+                elif axis==3 and value==-1.00:
+                    mc.jog_coord(3,1,50)
+            else:
+                if previous_state[axis] != 0:  
+                    mc.stop()
+                    previous_state[axis] = 0  
+
+        if event.type == pygame.JOYBUTTONDOWN:
+            if joystick.get_button(3)==1:
+                mc.set_basic_output(1,0)
+            if joystick.get_button(0)==1:
+                mc.set_basic_output(1,1)
+
+        if event.type == pygame.JOYHATMOTION:
+            hat_value = joystick.get_hat(0) 
+            if hat_value ==(0,-1):
+                mc.jog_coord(5,1,50)
+            elif hat_value ==(0,1):
+                mc.jog_coord(5,0,50)
+            elif hat_value ==(-1,0):
+                mc.jog_coord(4,0,50)
+            elif hat_value ==(1,0):
+                mc.jog_coord(4,1,50)
+            if hat_value != (0, 0):
+                hat_pressed = True
+            else:
+                if hat_pressed:  
+                    mc.stop()
+                    hat_pressed = False  
+
+if pygame.joystick.get_count() > 0:
+    joystick = pygame.joystick.Joystick(0) 
+    joystick.init()
+else:
+    print("No handle detected")
+    pygame.quit()
+    sys.exit()
+running = True
+while running:
+    for event in pygame.event.get():
+        if event.type == pygame.QUIT:
+            running = False       
+        joy_handler()
+pygame.quit()
+```
+
+# 6 Effect display
+![](./img/joy.gif)