GlaDOS with direct PS4 pad control (RaspberryPi, pca9685)

# Yep I didn't even deleted the comments form pygame example and left camelCase.

import pygame
import math

# imports for i2c board control
from board import SCL, SDA
import busio
from adafruit_pca9685 import PCA9685
from adafruit_motor import servo
import time

i2c = busio.I2C(SCL, SDA)

pca = PCA9685(i2c)
pca.frequency = 100

servo0 = servo.Servo(pca.channels[0], min_pulse=1000, max_pulse=2000)
servo1 = servo.Servo(pca.channels[1], min_pulse=1000, max_pulse=2000)
servo2 = servo.Servo(pca.channels[2], min_pulse=1000, max_pulse=2000)
servo3 = servo.Servo(pca.channels[4], min_pulse=1000, max_pulse=2000)

print("i2c done")

def valmap(value, istart=-1.0, istop=1.0, ostart=0, ostop=180):
    return ostart + (ostop - ostart) * ((value - istart) / (istop - istart))

def truncate_float(val, d_place):
    tens = 10**d_place
    if val > 0:
        return math.floor(val*tens)/tens
    else:
        return math.ceil(val*tens)/tens

axax=[0,0,0,0,0,0]


# Define some colors.
BLACK = pygame.Color('black')
WHITE = pygame.Color('white')

# This is a simple class that will help us print to the screen.
# It has nothing to do with the joysticks, just outputting the
# information.
class TextPrint(object):
    def __init__(self):
        self.reset()
        self.font = pygame.font.Font(None, 20)

    def tprint(self, screen, textString):
        textBitmap = self.font.render(textString, True, BLACK)
        screen.blit(textBitmap, (self.x, self.y))
        self.y += self.line_height

    def reset(self):
        self.x = 10
        self.y = 10
        self.line_height = 15

    def indent(self):
        self.x += 10

    def unindent(self):
        self.x -= 10


pygame.init()

# Set the width and height of the screen (width, height).
screen = pygame.display.set_mode((500, 700))

pygame.display.set_caption("My Game")

# Loop until the user clicks the close button.
done = False

# Used to manage how fast the screen updates.
clock = pygame.time.Clock()

# Initialize the joysticks.
pygame.joystick.init()

# Get ready to print.
textPrint = TextPrint()

# -------- Main Program Loop -----------
while not done:
    #
    # EVENT PROCESSING STEP
    #
    # Possible joystick actions: JOYAXISMOTION, JOYBALLMOTION, JOYBUTTONDOWN,
    # JOYBUTTONUP, JOYHATMOTION
    for event in pygame.event.get(): # User did something.
        if event.type == pygame.QUIT: # If user clicked close.
            done = True # Flag that we are done so we exit this loop.
        elif event.type == pygame.JOYBUTTONDOWN:
            print("Joystick button pressed.")
        elif event.type == pygame.JOYBUTTONUP:
            print("Joystick button released.")

    #
    # DRAWING STEP
    #
    # First, clear the screen to white. Don't put other drawing commands
    # above this, or they will be erased with this command.
    screen.fill(WHITE)
    textPrint.reset()

    # Get count of joysticks.
    joystick_count = pygame.joystick.get_count()

    textPrint.tprint(screen, "Number of joysticks: {}".format(joystick_count))
    textPrint.indent()

    # For each joystick:
    for i in range(joystick_count):
        joystick = pygame.joystick.Joystick(i)
        joystick.init()

        textPrint.tprint(screen, "Joystick {}".format(i))
        textPrint.indent()

        # Get the name from the OS for the controller/joystick.
        name = joystick.get_name()

        textPrint.tprint(screen, "Joystick name: {}".format(name))

        # Usually axis run in pairs, up/down for one, and left/right for
        # the other.
        axes = joystick.get_numaxes()

        textPrint.tprint(screen, "Number of axes: {}".format(axes))
        textPrint.indent()

        # here is where magic happens :P
        used_axes = [0,1,3,4] #on rasberry PI
        for i in used_axes:
            axis = joystick.get_axis(i)
            textPrint.tprint(screen, "Axis {} value: {:>6.3f} {}".format(i, axis, int(valmap(axis))))
            axax[i] = int(valmap(axis))
        textPrint.unindent()

        servo0.angle = axax[0]
        servo1.angle = axax[1]
        servo2.angle = axax[3]
        servo3.angle = axax[4]

        buttons = joystick.get_numbuttons()
        textPrint.tprint(screen, "Number of buttons: {}".format(buttons))
        textPrint.indent()

        for i in range(buttons):
            button = joystick.get_button(i)
            textPrint.tprint(screen,
                             "Button {:>2} value: {}".format(i, button))
        textPrint.unindent()

        hats = joystick.get_numhats()
        textPrint.tprint(screen, "Number of hats: {}".format(hats))
        textPrint.indent()

        # Hat position. All or nothing for direction, not a float like
        # get_axis(). Position is a tuple of int values (x, y).
        for i in range(hats):
            hat = joystick.get_hat(i)
            textPrint.tprint(screen, "Hat {} value: {}".format(i, str(hat)))
        textPrint.unindent()

        textPrint.unindent()
        # DEBUG:


    #
    # ALL CODE TO DRAW SHOULD GO ABOVE THIS COMMENT
    #

    # Go ahead and update the screen with what we've drawn.
    pygame.display.flip()

    # Limit to 20 frames per second.
    clock.tick(200)

# Close the window and quit.
# If you forget this line, the program will 'hang'
# on exit if running from IDLE.
pygame.quit()