/listConnections - list all current connections to shoutbox
/version - return current version
/t - shout as mr.turing
/addXMPPRelay/(xmpp buddy name) - add buddy as an xmpp relay
/removeXMPPRelay/(xmpp buddy name) - remove buddy as xmpp relay
This service allows input from usb joysticks or gamepads. You can attach to a joystick and examine axis or button data. These button and joystick events can be sent to other services, such as servos or motor services. It could be used for a "manual" override to take control of a robot.
Since Servos require a range of values from 0 to 180, and Joystick's raw data is between -1.0 and 1.0 a tranform is possible. To transform -1.0 to 1.0 to 0 to 180 we need a multiplier and an offset. In this case the multiplier is 90 and the offset is 90.
Arduino PWM values require a range between 0 and 255. The multiplier would be 127 and the offset is 127 - this will allow the Joystick service to send correct values to an Arduino PWM.
Programmatic control can be done with Python through the Jython service.