3-Axis (X/Y/Twisty-Z + Button) Joystick (JH-D400B-MK4) remote control (CircuitPython)

Last updated December 09, 2024

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Code:
https://github.com/tyeth/circuitpython-joystick-D400B-MK4/
Parts:
3D Modelling / Enclosure

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A quick AI prompt here, dab of logging there, a blob of solder or two, followed by the realisation that the colour coded wires aren't coded...and hey presto, a joystick with twist and button to switch mode (driving forklift versus mast tilt/height control) or long press for the lights.

Display shows axis and mode, twist controls speed of motion/action, and serial prints too.

Next I'll add the connection to the forklift's remote interface (websocket), and possibly scraping the values from the input boxes on the human interface (web page).

I'd like it to be a bit more generic as to how the controller is configured for a target, but also avoid reinventing the wheel, so currently as a single use project it'll be hacky-as-can-be.

For now here's the basic code, adapt to your leisure.

Code:

https://github.com/tyeth/circuitpython-joystick-D400B-MK4/

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import time
import os
import board
import analogio
import digitalio
import displayio
import terminalio
from adafruit_display_text import label
from adafruit_displayio_layout.layouts.grid_layout import GridLayout
from adafruit_displayio_sh1107 import SH1107
import adafruit_imageload

# Constants
DRIVE_MODE = 0
MAST_MODE = 1

# Setup joystick axes
x_axis = analogio.AnalogIn(board.D6)
IS_X_INVERTED = True
y_axis = analogio.AnalogIn(board.D5)
z_axis = analogio.AnalogIn(board.D9)

# Setup button
button = digitalio.DigitalInOut(board.D10)
button.direction = digitalio.Direction.INPUT
button.pull = digitalio.Pull.DOWN

# Setup lights
lights = digitalio.DigitalInOut(board.D13)
lights.direction = digitalio.Direction.OUTPUT

# Initial state
current_mode = DRIVE_MODE
speed_multiplier = 1.0
lights_on = False
button_pressed = False
button_held_time = 0

# Display setup
display = None
mast_image_tilegrid = None
drive_image_tilegrid = None
text_areas = {}

print("starting")

def init_display():
    """Initialize the display dynamically based on connected hardware."""
    global display, text_areas, mast_image_tilegrid, drive_image_tilegrid

    if hasattr(board, "DISPLAY"):  # Built-in display
        display = board.DISPLAY
    else:
        displayio.release_displays()
        i2c = board.I2C()
        display_bus = displayio.I2CDisplay(i2c, device_address=0x3C)
        display = SH1107(display_bus, width=128, height=64)
    
    # Create the display layout
    main_group = displayio.Group()
    layout = GridLayout(x=0, y=0, width=display.width, height=display.height, grid_size=(4, 3))

    palette = displayio.Palette(2)
    palette[1] = 0xFFFFFF
    
    mast_image, _ = adafruit_imageload.load(
       "/forklift-mast-140x80.bmp", bitmap=displayio.Bitmap, palette=displayio.Palette
    )
    mast_image_tilegrid = displayio.TileGrid(mast_image, pixel_shader=palette, x=-20, y=0)


    drive_image, _ = adafruit_imageload.load(
       "/forklift-drive-140x80.bmp"
    )
    drive_image_tilegrid = displayio.TileGrid(drive_image, pixel_shader=palette, x=-20, y=0)
    drive_image_tilegrid.hidden = False
    
    image_group = displayio.Group()
    # image_group.append(mast_image_tilegrid)
    # image_group.append(drive_image_tilegrid)
    layout.add_content(mast_image_tilegrid, grid_position=(2,1), cell_size=(1,1))
    layout.add_content(drive_image_tilegrid, grid_position=(2,1), cell_size=(1,1))
    # layout.add_content(mast_image_tilegrid, grid_position=(1,0), cell_size=(1,1))
    # layout.add_content(drive_image_tilegrid, grid_position=(1,0), cell_size=(1,1))
    
    # Add text labels
    for i, label_text in enumerate(["Mode", "Speed", "Values"]):
        text_area = label.Label(terminalio.FONT, text=f"{label_text}: ---", scale= 2 if i < 2 else 1)
        layout.add_content(text_area, grid_position=(0, i), cell_size=(1,1))
        text_areas[label_text] = text_area

    main_group.append(layout)
    display.root_group = main_group

def update_display():
    """Update the display with the latest information."""
    global drive_image_tilegrid, mast_image_tilegrid
    mode_text = "Driving" if current_mode == DRIVE_MODE else "Mast"
    drive_image_tilegrid.hidden = current_mode != DRIVE_MODE
    mast_image_tilegrid.hidden = current_mode == DRIVE_MODE
    speed_text = f"{speed_multiplier:.2f}"
    values_text = f"X={read_axis(x_axis):.2f}, Y={read_axis(y_axis):.2f}"

    text_areas["Mode"].text = f"Mode: {mode_text}"
    text_areas["Speed"].text = f"Speed:\n{speed_text}"
    text_areas["Values"].text = f"\n\nValues: {values_text}"

def read_axis(axis):
    """Normalize axis value to range -1.0 to 1.0."""
    #TODO: add axis real voltage via esp32 readMilivolts or whatever it's called in circuitpython
    val = axis.value
    result = (val - 32768) / 32768.0
    if axis == x_axis:
        result = -1 * result
    return result

def update_speed():
    """Update speed multiplier based on twist axis."""
    global speed_multiplier
    twist = read_axis(z_axis)
    speed_multiplier = max(0.5, 1.0 + twist)  # Base speed multiplier 0.5 to 1.5

def toggle_mode():
    """Toggle between drive and mast control modes."""
    global current_mode
    current_mode = DRIVE_MODE if current_mode == MAST_MODE else MAST_MODE

def toggle_lights():
    """Toggle the lights."""
    global lights_on
    lights_on = not lights_on
    lights.value = lights_on

# Initialize display
init_display()

counter=4
# Main loop
while True:

    # Read joystick axes
    x = read_axis(x_axis) * speed_multiplier
    y = read_axis(y_axis) * speed_multiplier

    # Check button state
    if button.value:  # Button pressed
        if not button_pressed:
            button_pressed = True
            button_held_time = time.monotonic()

        # Check if button is held for more than 1 second
        if time.monotonic() - button_held_time > 1:
            toggle_lights()
            while button.value:  # Wait until button is released
                pass                 # Move to async 
            button_pressed = False

    else:  # Button released
        if button_pressed:
            button_pressed = False
            toggle_mode()

    # Update speed
    update_speed()

    # Update display
    update_display()

    print((x_axis.value, y_axis.value, z_axis.value), end=" ")
    # Perform actions based on mode
    if current_mode == DRIVE_MODE:
        print(f"Driving: X={x:.2f}, Y={y:.2f}, Speed={speed_multiplier:.2f}", end="")
    elif current_mode == MAST_MODE:
        print(f"Mast Control: Tilt={x:.2f}, Height={y:.2f}, Speed={speed_multiplier:.2f}", end="")

    counter = counter + 1
    if counter % 8 == 0:
        print("  button state: ", button.value, "  light state: ", lights_on)
        counter = 0
    else:
        print()
    
    # Add a small delay for debounce and smooth operation
    time.sleep(0.05)

import time
import os
import board
import analogio
import digitalio
import displayio
import terminalio
from adafruit_display_text import label
from adafruit_displayio_layout.layouts.grid_layout import GridLayout
from adafruit_displayio_sh1107 import SH1107
import adafruit_imageload

# Constants
DRIVE_MODE = 0
MAST_MODE = 1

# Setup joystick axes
x_axis = analogio.AnalogIn(board.D6)
IS_X_INVERTED = True
y_axis = analogio.AnalogIn(board.D5)
z_axis = analogio.AnalogIn(board.D9)

# Setup button
button = digitalio.DigitalInOut(board.D10)
button.direction = digitalio.Direction.INPUT
button.pull = digitalio.Pull.DOWN

# Setup lights
lights = digitalio.DigitalInOut(board.D13)
lights.direction = digitalio.Direction.OUTPUT

# Initial state
current_mode = DRIVE_MODE
speed_multiplier = 1.0
lights_on = False
button_pressed = False
button_held_time = 0

# Display setup
display = None
mast_image_tilegrid = None
drive_image_tilegrid = None
text_areas = {}

print("starting")

def init_display():
    """Initialize the display dynamically based on connected hardware."""
    global display, text_areas, mast_image_tilegrid, drive_image_tilegrid

    if hasattr(board, "DISPLAY"):  # Built-in display
        display = board.DISPLAY
    else:
        displayio.release_displays()
        i2c = board.I2C()
        display_bus = displayio.I2CDisplay(i2c, device_address=0x3C)
        display = SH1107(display_bus, width=128, height=64)
    
    # Create the display layout
    main_group = displayio.Group()
    layout = GridLayout(x=0, y=0, width=display.width, height=display.height, grid_size=(4, 3))

    palette = displayio.Palette(2)
    palette[1] = 0xFFFFFF
    
    mast_image, _ = adafruit_imageload.load(
       "/forklift-mast-140x80.bmp", bitmap=displayio.Bitmap, palette=displayio.Palette
    )
    mast_image_tilegrid = displayio.TileGrid(mast_image, pixel_shader=palette, x=-20, y=0)


    drive_image, _ = adafruit_imageload.load(
       "/forklift-drive-140x80.bmp"
    )
    drive_image_tilegrid = displayio.TileGrid(drive_image, pixel_shader=palette, x=-20, y=0)
    drive_image_tilegrid.hidden = False
    
    image_group = displayio.Group()
    # image_group.append(mast_image_tilegrid)
    # image_group.append(drive_image_tilegrid)
    layout.add_content(mast_image_tilegrid, grid_position=(2,1), cell_size=(1,1))
    layout.add_content(drive_image_tilegrid, grid_position=(2,1), cell_size=(1,1))
    # layout.add_content(mast_image_tilegrid, grid_position=(1,0), cell_size=(1,1))
    # layout.add_content(drive_image_tilegrid, grid_position=(1,0), cell_size=(1,1))
    
    # Add text labels
    for i, label_text in enumerate(["Mode", "Speed", "Values"]):
        text_area = label.Label(terminalio.FONT, text=f"{label_text}: ---", scale= 2 if i < 2 else 1)
        layout.add_content(text_area, grid_position=(0, i), cell_size=(1,1))
        text_areas[label_text] = text_area

    main_group.append(layout)
    display.root_group = main_group

def update_display():
    """Update the display with the latest information."""
    global drive_image_tilegrid, mast_image_tilegrid
    mode_text = "Driving" if current_mode == DRIVE_MODE else "Mast"
    drive_image_tilegrid.hidden = current_mode != DRIVE_MODE
    mast_image_tilegrid.hidden = current_mode == DRIVE_MODE
    speed_text = f"{speed_multiplier:.2f}"
    values_text = f"X={read_axis(x_axis):.2f}, Y={read_axis(y_axis):.2f}"

    text_areas["Mode"].text = f"Mode: {mode_text}"
    text_areas["Speed"].text = f"Speed:\n{speed_text}"
    text_areas["Values"].text = f"\n\nValues: {values_text}"

def read_axis(axis):
    """Normalize axis value to range -1.0 to 1.0."""
    #TODO: add axis real voltage via esp32 readMilivolts or whatever it's called in circuitpython
    val = axis.value
    result = (val - 32768) / 32768.0
    if axis == x_axis:
        result = -1 * result
    return result

def update_speed():
    """Update speed multiplier based on twist axis."""
    global speed_multiplier
    twist = read_axis(z_axis)
    speed_multiplier = max(0.5, 1.0 + twist)  # Base speed multiplier 0.5 to 1.5

def toggle_mode():
    """Toggle between drive and mast control modes."""
    global current_mode
    current_mode = DRIVE_MODE if current_mode == MAST_MODE else MAST_MODE

def toggle_lights():
    """Toggle the lights."""
    global lights_on
    lights_on = not lights_on
    lights.value = lights_on

# Initialize display
init_display()

counter=4
# Main loop
while True:

    # Read joystick axes
    x = read_axis(x_axis) * speed_multiplier
    y = read_axis(y_axis) * speed_multiplier

    # Check button state
    if button.value:  # Button pressed
        if not button_pressed:
            button_pressed = True
            button_held_time = time.monotonic()

        # Check if button is held for more than 1 second
        if time.monotonic() - button_held_time > 1:
            toggle_lights()
            while button.value:  # Wait until button is released
                pass                 # Move to async 
            button_pressed = False

    else:  # Button released
        if button_pressed:
            button_pressed = False
            toggle_mode()

    # Update speed
    update_speed()

    # Update display
    update_display()

    print((x_axis.value, y_axis.value, z_axis.value), end=" ")
    # Perform actions based on mode
    if current_mode == DRIVE_MODE:
        print(f"Driving: X={x:.2f}, Y={y:.2f}, Speed={speed_multiplier:.2f}", end="")
    elif current_mode == MAST_MODE:
        print(f"Mast Control: Tilt={x:.2f}, Height={y:.2f}, Speed={speed_multiplier:.2f}", end="")

    counter = counter + 1
    if counter % 8 == 0:
        print("  button state: ", button.value, "  light state: ", lights_on)
        counter = 0
    else:
        print()
    
    # Add a small delay for debounce and smooth operation
    time.sleep(0.05)

View on GitHub

Parts:

JH-D400B-MK4 Joystick

3DoF + Button, 10k analog potentiometers (5K also available)

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M3 + M2.5 size Nuts + Bolts (Countersunk?)

Probably 12mm including bolt head, 2 of each size

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Adafruit ESP32-S3 Reverse TFT Feather

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And some kind of battery power (or use USB and stop worrying so much)

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3D Modelling / Enclosure

This uses 6mm double wall cardboard, as I had an excess from some recent deliveries. The design can be adapted, just update the plate_thickness variable in the onshape cad model. To examine the design you'll want to roll back to before the laser joint cutting steps, then roll to end again:

Laser Cutting svg:

Get from the Drawing Laser Sheet tab in onshape, or use this 6mm thickness file:

https://gist.github.com/tyeth/1bf8f39579c9bcbae84be4c8045f4bef

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This page (3-Axis (X/Y/Twisty-Z + Button) Joystick (JH-D400B-MK4) remote control (CircuitPython)) was last updated on December 09, 2024.