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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
+
+
+
+Then connect the suction pump control box line to the base IO of the robot arm
+
+
+
+## 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
+
+
+
+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
+
+
+
+Note that the screen of the robot arm seat should display ok
+
+
+
+Turn on the switch of the handle
+
+
+
+Note whether the MODE LED of the handle is on
+
+
+
+**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.
+
+
+
+## 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
+
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