From e1e650220f280409d4e0505d9bbb5c1490b15440 Mon Sep 17 00:00:00 2001
From: Andrey Pokhilko <apc4@ya.ru>
Date: Thu, 15 Aug 2019 10:54:37 +0300
Subject: [PATCH] figured out directions of joystick

---
 examples/bb8joystick/__init__.py |  9 +++++----
 examples/bb8joystick/bb8.py      |  9 +++++----
 examples/bb8joystick/joystick.py | 10 ++++++----
 3 files changed, 16 insertions(+), 12 deletions(-)

diff --git a/examples/bb8joystick/__init__.py b/examples/bb8joystick/__init__.py
index 6f2ba89..4b8dc31 100644
--- a/examples/bb8joystick/__init__.py
+++ b/examples/bb8joystick/__init__.py
@@ -28,15 +28,17 @@ if __name__ == "__main__":
 
     def roll(speed, direction):
         print("Roll", speed, direction)
-        if speed < 0.1:
+        if speed < 2:
             speed = 0
         bb8.roll(speed, direction)
 
 
     def stop(state):
-        if not state:
+        if state:
             print("Stop")
             bb8.roll(0, 0)
+        else:
+            print("Stabilize")
             bb8.stabilize()
 
 
@@ -47,8 +49,7 @@ if __name__ == "__main__":
         joystick.on_joystick(roll)
         print("All set up")
 
-        while joystick._hub.connection.is_alive():
-            time.sleep(1)
+        time.sleep(300)
     finally:
         bb8.disconnect()
         joystick.disconnect()
diff --git a/examples/bb8joystick/bb8.py b/examples/bb8joystick/bb8.py
index 0e05126..00eb637 100644
--- a/examples/bb8joystick/bb8.py
+++ b/examples/bb8joystick/bb8.py
@@ -73,12 +73,13 @@ class BB8(object):
 
     def heading(self, heading):
         self._wait_loop()
-        # self._loop.run_until_complete(self._sphero.set_heading(heading))
-        self._loop.run_until_complete(self._sphero.roll(1, heading, spheropy.RollMode.IN_PLACE_ROTATE))
+        self._loop.run_until_complete(self._sphero.set_heading(heading))
+        # self._loop.run_until_complete(self._sphero.roll(1, heading, spheropy.RollMode.IN_PLACE_ROTATE))
 
-    def roll(self, speed=1.0, direction=0):
+    def roll(self, speed=10, direction=0):
         self._wait_loop()
-        speed = int(255 * speed)
+        speed = int(255 * speed / 10)
+        speed *= 0.5  # throttle down a bit
         self._loop.run_until_complete(self._sphero.roll(speed, direction))
 
     def stop(self):
diff --git a/examples/bb8joystick/joystick.py b/examples/bb8joystick/joystick.py
index 256faf5..3546481 100644
--- a/examples/bb8joystick/joystick.py
+++ b/examples/bb8joystick/joystick.py
@@ -69,7 +69,9 @@ class Joystick(object):
         def wrapper(angle):
             logging.debug("Raw angle: %s", angle)
             val = angle % 360
-            callback(val if val >= 0 else 360 - val - 1)
+            val = val if val >= 0 else 360 - val - 1
+            val = 359 - val
+            callback(val)
 
         self._hub.motor_B.subscribe(wrapper)
 
@@ -101,14 +103,14 @@ class Joystick(object):
     def on_joystick(self, callback):
         """
         Notifies about joystick change. ``callback(speed, direction)`` gets parameters:
-        - ``speed`` - float value from 0.0 to 1.0
+        - ``speed`` - int value from 0 to 10
         - ``direction`` - int value from 0 to 359
 
         """
         self._on_joystick.add(callback)
 
     def _calc_joystick(self):
-        norm_a = self._angle_A / self.RANGE_A
+        norm_a = -self._angle_A / self.RANGE_A
         norm_b = self._angle_C / self.RANGE_C
         logging.debug("%s / %s", self._angle_A, self._angle_C)
         logging.debug("%s / %s", norm_a, norm_b)
@@ -128,7 +130,7 @@ class Joystick(object):
             direction = 270 - direction
 
         for callback in self._on_joystick:
-            callback(speed, 360 - int(direction))
+            callback(round(10 * speed), 359 - int(direction))
 
 
 if __name__ == '__main__':