from machine import Pin, I2C
from machine import sleep
import ssd1306
import machine
from ssd1306 import SSD1306_I2C
from time import sleep
from servo import Servo
from two_axis_analog_joystick import TwoAxisAnalogJoystick

BUTT1 = Pin(25, Pin.IN)
BUTT2 = Pin(26, Pin.IN)
BUTT3 = Pin(27, Pin.IN)


SERVO1 = Servo(pin_id=16)
SERVO2 = Servo(pin_id=17)
SERVO3 = Servo(pin_id=0)

# ESP32 Pin assignment 
i2c = machine.I2C(sda=machine.Pin(21), scl=machine.Pin(22))
oled_width = 128
oled_height = 64
oled = ssd1306.SSD1306_I2C(oled_width, oled_height, i2c)

stick = TwoAxisAnalogJoystick(25, 26, 12)

while True:
    val = stick.GetRawCount()
    x = val[0]
    y = val[1]
    x1= str(x)
    y1=str(y)
    print("x count:", x)
    print("y count:", y)
    sleep(0.0005)


    if x == 32776:
        SERVO1.write(90)
        'sleep(0.5)'
        'SERVO1.write(60)'
        'sleep(0.5)'
        'SERVO1.write(90)'

    if x == 65535:
        SERVO1.write(0)
        'sleep(0.5)'
        'SERVO1.write(60)'
        'sleep(0.5)'
        'SERVO1.write(90)'
   
    if x == 0:
        SERVO1.write(180)
        'sleep(0.5)'
        'SERVO1.write(60)'
        'sleep(0.5)'
        'SERVO1.write(90)'
    
    if y == 32776:
        SERVO2.write(90)
        'sleep(0.5)'
        'SERVO1.write(60)'
        'sleep(0.5)'
        'SERVO1.write(90)'

    if y == 65535:
        SERVO2.write(0)
 
    if y == 0:
        SERVO2.write(180)
    

    
    if BUTT3.value == 1:
      SERVO3.write(0)
      'sleep(0.0005)'
      'SERVO3.write(60)'
      'sleep(0.0005)'
      'SERVO3.write(30)'

    if BUTT3.value == 0:
      SERVO3.write(90)
      'sleep(0.0005)'
      'SERVO3.write(60)'
      'sleep(0.0005)'
      'SERVO3.write(30)'
    
    oled.fill(0)
    oled.text('x value=', 0, 0)
    oled.text('y value=', 0, 10)
    oled.text(x1, 70, 0)
    oled.text(y1, 70, 10)
    oled.show()

    
        
    
    
   
  
    



main.py

diagram.json

#MicroPython SSD1306 OLED driver, I2C and SPI interfaces created by Adafruit

import time
import framebuf

# register definitions
SET_CONTRAST        = const(0x81)
SET_ENTIRE_ON       = const(0xa4)
SET_NORM_INV        = const(0xa6)
SET_DISP            = const(0xae)
SET_MEM_ADDR        = const(0x20)
SET_COL_ADDR        = const(0x21)
SET_PAGE_ADDR       = const(0x22)
SET_DISP_START_LINE = const(0x40)
SET_SEG_REMAP       = const(0xa0)
SET_MUX_RATIO       = const(0xa8)
SET_COM_OUT_DIR     = const(0xc0)
SET_DISP_OFFSET     = const(0xd3)
SET_COM_PIN_CFG     = const(0xda)
SET_DISP_CLK_DIV    = const(0xd5)
SET_PRECHARGE       = const(0xd9)
SET_VCOM_DESEL      = const(0xdb)
SET_CHARGE_PUMP     = const(0x8d)


class SSD1306:
    def __init__(self, width, height, external_vcc):
        self.width = width
        self.height = height
        self.external_vcc = external_vcc
        self.pages = self.height // 8
        # Note the subclass must initialize self.framebuf to a framebuffer.
        # This is necessary because the underlying data buffer is different
        # between I2C and SPI implementations (I2C needs an extra byte).
        self.poweron()
        self.init_display()

    def init_display(self):
        for cmd in (
            SET_DISP | 0x00, # off
            # address setting
            SET_MEM_ADDR, 0x00, # horizontal
            # resolution and layout
            SET_DISP_START_LINE | 0x00,
            SET_SEG_REMAP | 0x01, # column addr 127 mapped to SEG0
            SET_MUX_RATIO, self.height - 1,
            SET_COM_OUT_DIR | 0x08, # scan from COM[N] to COM0
            SET_DISP_OFFSET, 0x00,
            SET_COM_PIN_CFG, 0x02 if self.height == 32 else 0x12,
            # timing and driving scheme
            SET_DISP_CLK_DIV, 0x80,
            SET_PRECHARGE, 0x22 if self.external_vcc else 0xf1,
            SET_VCOM_DESEL, 0x30, # 0.83*Vcc
            # display
            SET_CONTRAST, 0xff, # maximum
            SET_ENTIRE_ON, # output follows RAM contents
            SET_NORM_INV, # not inverted
            # charge pump
            SET_CHARGE_PUMP, 0x10 if self.external_vcc else 0x14,
            SET_DISP | 0x01): # on
            self.write_cmd(cmd)
        self.fill(0)
        self.show()

    def poweroff(self):
        self.write_cmd(SET_DISP | 0x00)

    def contrast(self, contrast):
        self.write_cmd(SET_CONTRAST)
        self.write_cmd(contrast)

    def invert(self, invert):
        self.write_cmd(SET_NORM_INV | (invert & 1))

    def show(self):
        x0 = 0
        x1 = self.width - 1
        if self.width == 64:
            # displays with width of 64 pixels are shifted by 32
            x0 += 32
            x1 += 32
        self.write_cmd(SET_COL_ADDR)
        self.write_cmd(x0)
        self.write_cmd(x1)
        self.write_cmd(SET_PAGE_ADDR)
        self.write_cmd(0)
        self.write_cmd(self.pages - 1)
        self.write_framebuf()

    def fill(self, col):
        self.framebuf.fill(col)

    def pixel(self, x, y, col):
        self.framebuf.pixel(x, y, col)

    def scroll(self, dx, dy):
        self.framebuf.scroll(dx, dy)

    def text(self, string, x, y, col=1):
        self.framebuf.text(string, x, y, col)


class SSD1306_I2C(SSD1306):
    def __init__(self, width, height, i2c, addr=0x3c, external_vcc=False):
        self.i2c = i2c
        self.addr = addr
        self.temp = bytearray(2)
        # Add an extra byte to the data buffer to hold an I2C data/command byte
        # to use hardware-compatible I2C transactions.  A memoryview of the
        # buffer is used to mask this byte from the framebuffer operations
        # (without a major memory hit as memoryview doesn't copy to a separate
        # buffer).
        self.buffer = bytearray(((height // 8) * width) + 1)
        self.buffer[0] = 0x40  # Set first byte of data buffer to Co=0, D/C=1
        self.framebuf = framebuf.FrameBuffer1(memoryview(self.buffer)[1:], width, height)
        super().__init__(width, height, external_vcc)

    def write_cmd(self, cmd):
        self.temp[0] = 0x80 # Co=1, D/C#=0
        self.temp[1] = cmd
        self.i2c.writeto(self.addr, self.temp)

    def write_framebuf(self):
        # Blast out the frame buffer using a single I2C transaction to support
        # hardware I2C interfaces.
        self.i2c.writeto(self.addr, self.buffer)

    def poweron(self):
        pass


class SSD1306_SPI(SSD1306):
    def __init__(self, width, height, spi, dc, res, cs, external_vcc=False):
        self.rate = 10 * 1024 * 1024
        dc.init(dc.OUT, value=0)
        res.init(res.OUT, value=0)
        cs.init(cs.OUT, value=1)
        self.spi = spi
        self.dc = dc
        self.res = res
        self.cs = cs
        self.buffer = bytearray((height // 8) * width)
        self.framebuf = framebuf.FrameBuffer1(self.buffer, width, height)
        super().__init__(width, height, external_vcc)

    def write_cmd(self, cmd):
        self.spi.init(baudrate=self.rate, polarity=0, phase=0)
        self.cs.high()
        self.dc.low()
        self.cs.low()
        self.spi.write(bytearray([cmd]))
        self.cs.high()

    def write_framebuf(self):
        self.spi.init(baudrate=self.rate, polarity=0, phase=0)
        self.cs.high()
        self.dc.high()
        self.cs.low()
        self.spi.write(self.buffer)
        self.cs.high()

    def poweron(self):
        self.res.high()
        time.sleep_ms(1)
        self.res.low()
        time.sleep_ms(10)
        self.res.high()


ssd1306.py

from micropython import const
from machine import ADC, Timer

# A/D Constants
A_D_DEFAULT_DEADZONE_COUNT = const(0x0500)
A_D_MIN_COUNT              = const(0x0000)
A_D_LVL1_COUNT             = const(0x2AAA)
A_D_LVL2_COUNT             = const(0x5554)
A_D_MID_COUNT              = const(0x7FFE)
A_D_LVL4_COUNT             = const(0xAAAA)
A_D_LVL5_COUNT             = const(0xD554)
A_D_MAX_COUNT              = const(0xFFFE)

X_VALUE_LIST_INDEX    = const(0)
Y_VALUE_LIST_INDEX    = const(1)

# Stick states
SS_CENTERED           = const(0x0000)
SS_UP_MIN             = const(0x0001)
SS_UP_MID             = const(0x0002)
SS_UP_MAX             = const(0x0004)
SS_DOWN_MIN           = const(0x0008)
SS_DOWN_MID           = const(0x0010)
SS_DOWN_MAX           = const(0x0020)
SS_LEFT_MIN           = const(0x0040)
SS_LEFT_MID           = const(0x0080)
SS_LEFT_MAX           = const(0x0100)
SS_RIGHT_MIN          = const(0x0200)
SS_RIGHT_MID          = const(0x0400)
SS_RIGHT_MAX          = const(0x0800)

SS_To_String    = { SS_CENTERED  :"SS_CENTERED",
                    SS_UP_MIN    :"SS_UP_MIN",
                    SS_UP_MID    :"SS_UP_MID",
                    SS_UP_MAX    :"SS_UP_MAX",
                    SS_DOWN_MIN  :"SS_DOWN_MIN",
                    SS_DOWN_MID  :"SS_DOWN_MID",
                    SS_DOWN_MAX  :"SS_DOWN_MAX",
                    SS_LEFT_MIN  :"SS_LEFT_MIN",
                    SS_LEFT_MID  :"SS_LEFT_MID",
                    SS_LEFT_MAX  :"SS_LEFT_MAX",
                    SS_RIGHT_MIN :"SS_RIGHT_MIN",
                    SS_RIGHT_MID :"SS_RIGHT_MID",
                    SS_RIGHT_MAX :"SS_RIGHT_MAX" }

class TwoAxisAnalogJoystick:
    """Micropython Two Axis Analog Joystick Input Class"""
    
    def __init__(self, x_adc_pin_num, y_adc_pin_num, polling_ms=1000, reverse_x=False, reverse_y=False, callback=None, callback_ret_raw=False, deadzone=A_D_DEFAULT_DEADZONE_COUNT):
        self.x_adc_pin_num = x_adc_pin_num
        self.y_adc_pin_num = y_adc_pin_num
        self.polling_ms = polling_ms
        self.callback = callback

        self.x_adc_pin = ADC(self.x_adc_pin_num)
        self.y_adc_pin = ADC(self.y_adc_pin_num)
        self.x_adc_count = 0
        self.y_adc_count = 0
        
        self.poll_timer = Timer(-1)
        
        self.range_lookup = [[SS_LEFT_MAX, SS_DOWN_MAX],
                             [SS_LEFT_MID, SS_DOWN_MID],
                             [SS_LEFT_MIN, SS_DOWN_MIN],
                             [SS_CENTERED, SS_CENTERED],
                             [SS_RIGHT_MIN, SS_UP_MIN],
                             [SS_RIGHT_MID, SS_UP_MID],
                             [SS_RIGHT_MAX, SS_UP_MAX]]
        
        if (reverse_x):
            self.ReverseX()
            
        if (reverse_y):
            self.ReverseY()
            
        self.callback_ret_raw = callback_ret_raw
        self.deadzone = deadzone
    
    def ReverseX(self):
        self.range_lookup[0][0] = SS_RIGHT_MAX
        self.range_lookup[1][0] = SS_RIGHT_MID
        self.range_lookup[2][0] = SS_RIGHT_MIN
        self.range_lookup[4][0] = SS_LEFT_MIN
        self.range_lookup[5][0] = SS_LEFT_MID
        self.range_lookup[6][0] = SS_LEFT_MAX
        
    def ReverseY(self):
        self.range_lookup[0][1] = SS_UP_MAX
        self.range_lookup[1][1] = SS_UP_MID
        self.range_lookup[2][1] = SS_UP_MIN
        self.range_lookup[4][1] = SS_DOWN_MIN
        self.range_lookup[5][1] = SS_DOWN_MID
        self.range_lookup[6][1] = SS_DOWN_MAX
        
    def __UpdateRawCount(self):
        self.x_adc_count = self.x_adc_pin.read_u16()
        self.y_adc_count = self.y_adc_pin.read_u16()
        
    def GetRawCount(self):
        self.__UpdateRawCount()
        raw = []
        raw.append(self.x_adc_count)
        raw.append(self.y_adc_count)
        return raw
    
    def ConvertRawToState(self, raw):
        state = []
        
        for index in range(2):       
            if (A_D_MIN_COUNT <= raw[index] and raw[index] < A_D_LVL1_COUNT):
                state.append(self.range_lookup[0][index])
            elif (A_D_LVL1_COUNT <= raw[index] and raw[index] < A_D_LVL2_COUNT):
                state.append(self.range_lookup[1][index])
            elif (A_D_LVL2_COUNT <= raw[index] and raw[index] < (A_D_MID_COUNT - A_D_DEFAULT_DEADZONE_COUNT)):
                state.append(self.range_lookup[2][index])
            elif ((A_D_MID_COUNT - A_D_DEFAULT_DEADZONE_COUNT) <= raw[index] and raw[index] < (A_D_MID_COUNT + A_D_DEFAULT_DEADZONE_COUNT)):
                state.append(self.range_lookup[3][index])
            elif ((A_D_MID_COUNT + A_D_DEFAULT_DEADZONE_COUNT) <= raw[index] and raw[index] < A_D_LVL4_COUNT):
                state.append(self.range_lookup[4][index])
            elif (A_D_LVL4_COUNT <= raw[index] and raw[index] < A_D_LVL5_COUNT):
                state.append(self.range_lookup[5][index])
            else:
                state.append(self.range_lookup[6][index])
                    
        return state
        
    def GetCurrentState(self):         
        return self.ConvertRawToState(self.GetRawCount())
        
    def __PollTimerExpired(self, timer):     
        if (self.callback_ret_raw):
            raw = self.GetRawCount()
            self.callback(self.callback_ret_raw, raw)
        else:
            state = self.GetCurrentState()
            self.callback(self.callback_ret_raw, state)
        
    def StartPolling(self):
        self.poll_timer.init(mode=Timer.PERIODIC, period=self.polling_ms, callback=self.__PollTimerExpired)
    
    def StopPolling(self):
        self.poll_timer.deinit()
        
    def StateToString(self, state):
        return SS_To_String[state]

two_axis_analog_joystick.py

__init__.py

import machine
import math

class Servo:
    def __init__(self,pin_id,min_us=544.0,max_us=2400.0,min_deg=0.0,max_deg=180.0,freq=50):
        self.pwm = machine.PWM(machine.Pin(pin_id))
        self.pwm.freq(freq)
        self.current_us = 0.0
        self._slope = (min_us-max_us)/(math.radians(min_deg)-math.radians(max_deg))
        self._offset = min_us
        
    def write(self,deg):
        self.write_rad(math.radians(deg))

    def read(self):
        return math.degrees(self.read_rad())
        
    def write_rad(self,rad):
        self.write_us(rad*self._slope+self._offset)
    
    def read_rad(self):
        return (self.current_us-self._offset)/self._slope
        
    def write_us(self,us):
        self.current_us=us
        self.pwm.duty_ns(int(self.current_us*1000.0))
    
    def read_us(self):
        return self.current_us

    def off(self):
        self.pwm.duty_ns(0)
