Analog control Raspberry pi using pyPS4Controller - raspberry-pi

Question

I have a Raspberry Pi with a robotic kit and I would like to control it using a PS4 controller but using analog input. I have successfully connected the controller and I can read events and program the motors to answer binary input. The documentation (pyPS4Controller), however, is not explicit about using analog values (Ex: 50% press on R2 outputs 0.5 forward).
Could someone please help me figure out how to make this?
Thanks in advance!
# This is the example for binary buttons
from pyPS4Controller.controller import Controller
class MyController(Controller):
def __init__(self, **kwargs):
Controller.__init__(self, **kwargs)
def on_x_press(self):
print("Forward")
def on_x_release(self):
print("Stop")
# --> The objective is having some way to capture the "intensity" of the button press to use the motors accordingly
controller = MyController(interface="/dev/input/js0", connecting_using_ds4drv=False)
controller.listen()

Answer 1

After some tweaking and trial and error I ended up finding a solution.
The analog functions receive an input called value containing the analog value of the input given to the controller.
from pyPS4Controller.controller import Controller
from gpiozero import CamJamKitRobot as camjam
# Translate controller input into motor output values
def transf(raw):
temp = (raw+32767)/65534
# Filter values that are too weak for the motors to move
if abs(temp) < 0.25:
return 0
# Return a value between 0.3 and 1.0
else:
return round(temp, 1)
class MyController(Controller):
def __init__(self, **kwargs):
Controller.__init__(self, **kwargs)
self.robot = camjam()
def on_R2_press(self, value):
# 'value' becomes 0 or a float between 0.3 and 1.0
value = transf(value)
self.robot.value = (value, value)
print(f"R2 {value}")
def on_R2_release(self):
self.robot.value = (0,0)
print(f"R2 FREE")
def on_L2_press(self, value):
# 'value' becomes 0 or a float between -1.0 and -0.3
value = -transf(value)
self.robot.value = (value, value)
print(f"L2 {value}")
def on_L2_release(self):
self.robot.value = (0,0)
print(f"L2 FREE")
# Press OPTIONS (=START) to stop and exit
def on_options_press(self):
print("\nExiting (START)")
self.robot.value = (0,0)
exit(1)
controller = MyController(interface="/dev/input/js0", connecting_using_ds4drv=False)
controller.listen()