Python • Using Multiple Bluetooth devices with RPi 5 and python

Code:

#!/usr/bin/env python3import pygameimport subprocessimport boardimport timeimport sysimport EYESfrom adafruit_ht16k33 import matrix# Create the I2C interface.i2c = board.I2C()matrix = matrix.Matrix8x8(i2c)matrix.brightness = 0.90# Clear the matrix initiallymatrix.fill(0)matrix.show()# --- Configuration ---# Threshold to ignore small stick movements (deadzone)DEADZONE = 0.05# --- End Configuration ---def speak(text, speed=120, pitch=20, voice="en-us+m7"): #command = ['espeak-ng', '-v', voice, '-s', str(speed), text] try:     command = [         "espeak-ng",         f"-s{speed}",         f"-p{pitch}",         f"-v{voice}",         text    ]     subprocess.run(command, check=True) except subprocess.CalledProcessError as e:     print(f"Error speaking: {e}") except FileNotFoundError:     print("espeak-ng command not found")   def draw_eye(pattern):    for y in range(8):        for x in range(8):            matrix[x, y] = pattern[y][x]    matrix.show()    def mix_joystick_inputs(axis4, axis3):    """    MIxes two joystick axes for tank-style steering (e.g., throttle/yaw)    Returns: (left_motor, right_motor)    """    # Aplly Deadzone    if abs(axis4) < DEADZONE: axis4 = 0    if abs(axis3) < DEADZONE: axis3 = 0        # Mixing Algorithm (Tank Drive)    # axis3: Forward/Backward (Throttle)    # axis2: Left/Right (Steering)    left = axis4 + axis3    right = axis4 - axis3        # Normalize values to be within -1.0 to 1.0 range    left = max(-1.0, min(1.0, left))    right = max(-1.0, min(1.0, right))        return left, rightpygame.init()pygame.joystick.init()    # Check for joysticksif pygame.joystick.get_count() == 0:   print("No joystick detected.")   #return    # Initialize the first joystickjoystick = pygame.joystick.Joystick(0)joystick.init()print(f"Detected joystick: {joystick.get_name()}")time.sleep(1)if __name__ == "__main__":    speak(' Ready For Testing.')    time.sleep(2.0)    try:        while True:            pygame.event.pump() # Process event queue                            # Axis 2 is Steering, Axis 3 is Throttle            # Note: Pygame axes are usually -1.0 to 1.0            steering = joystick.get_axis(3)            throttle = -joystick.get_axis(4) #Invert if forward is negative                            left_motor, right_motor = mix_joystick_inputs(throttle, steering)                            #Print mixed values (or send to motor controller)            #print(f"L:{left_motor:.2f} R:{right_motor:.2f}")                            time.sleep(0.05) # Small delay for readable output                        leftM = left_motor * 30            rghtM = right_motor * 30                                if leftM < 0 and rghtM < 0:                speak(' Backing Up. ')                draw_eye(EYES.BLINK)                time.sleep(0.2)                        elif leftM < 0 and rghtM > 0:                speak(' Turning Left.')                draw_eye(EYES.LEFT2)                time.sleep(0.2)                        elif leftM > 0 and rghtM < 0:                speak(' Turning Right. ')                draw_eye(EYES.RIGHT2)                time.sleep(0.2)                            else:                draw_eye(EYES.STRGHT)                                      except KeyboardInterrupt:        print("Close serial communication.")        #ser.close()        matrix.fill(0)        matrix.show()