With joystick_control, you can connect your laptop to your comma device over the network and debug controls using a joystick or keyboard. joystick_control uses inputs which supports many common gamepads and joysticks.

Usage

The car must be off, and openpilot must be offroad before starting joystick_control.

Using a keyboard

SSH into your comma device and start joystick_control with the following command:

openpilot/tools/joystick/joystick_control.py --keyboard

The available buttons and axes will print showing their key mappings. In general, the WASD keys control gas and brakes and steering torque in 5% increments.

Joystick on your comma three

Plug the joystick into your comma three aux USB-C port. Then, SSH into the device and start joystick_control.py.

Joystick on your laptop

In order to use a joystick over the network, we need to run joystick_control locally from your laptop and have it send testJoystick packets over the network to the comma device.

Connect a joystick to your PC.
Connect your laptop to your comma device's hotspot and open a new SSH shell. Since joystick_control is being run on your laptop, we need to write a parameter to let controlsd know to start in joystick debug mode:
```
# on your comma device
echo -n "1" > /data/params/d/JoystickDebugMode
```

Start webrtcd so your laptop can connect to the device:

# on your comma device
openpilot/system/webrtc/webrtcd.py --host 0.0.0.0

Start joystick_control and the bridge on your laptop. The bridge sends the testJoystick packets to the device so that openpilot can receive them:
```
# on your laptop
openpilot/system/webrtc/bridge.py {DEVICE_IP} --send testJoystick &
openpilot/tools/joystick/joystick_control.py
```

Now start your car and openpilot should go into joystick mode with an alert on startup! The status of the axes will display on the alert, while button statuses print in the shell.

Make sure the conditions are met in the panda to allow controls (e.g. cruise control engaged). You can also make a modification to the panda code to always allow controls.