From 8667bd66379db3dee432e443ba56e4dad8407a2e Mon Sep 17 00:00:00 2001
From: Grayson <grayhoang@gmail.com>
Date: Sat, 23 May 2026 15:35:41 -0700
Subject: [PATCH 01/14] keyboard support

---
 .../thunderscope/robot_diagnostics/BUILD      | 18 ++++
 .../robot_diagnostics/controller_base.py      | 30 +++++++
 .../robot_diagnostics/handheld_controller.py  |  4 +-
 .../handheld_controller_widget.py             | 23 ++++-
 .../robot_diagnostics/keyboard_controller.py  | 88 +++++++++++++++++++
 5 files changed, 159 insertions(+), 4 deletions(-)
 create mode 100644 src/software/thunderscope/robot_diagnostics/controller_base.py
 create mode 100644 src/software/thunderscope/robot_diagnostics/keyboard_controller.py

diff --git a/src/software/thunderscope/robot_diagnostics/BUILD b/src/software/thunderscope/robot_diagnostics/BUILD
index aee3a437d1..e3c5ef0370 100644
--- a/src/software/thunderscope/robot_diagnostics/BUILD
+++ b/src/software/thunderscope/robot_diagnostics/BUILD
@@ -23,9 +23,25 @@ py_library(
     ],
 )
 
+py_library(
+    name = "keyboard_controller",
+    srcs = ["keyboard_controller.py"],
+    deps = [
+        ":controller_base",
+    ]
+)
+
 py_library(
     name = "handheld_controller",
     srcs = ["handheld_controller.py"],
+    deps = [
+        ":controller_base",
+    ]
+)
+
+py_library(
+    name = "controller_base",
+    srcs = ["controller_base.py"],
 )
 
 py_library(
@@ -33,6 +49,8 @@ py_library(
     srcs = ["handheld_controller_widget.py"],
     deps = [
         ":handheld_controller",
+        ":controller_base",
+        "keyboard_controller",
         "//software/thunderscope:constants",
         requirement("pyqtgraph"),
     ] + select({
diff --git a/src/software/thunderscope/robot_diagnostics/controller_base.py b/src/software/thunderscope/robot_diagnostics/controller_base.py
new file mode 100644
index 0000000000..ae438271cf
--- /dev/null
+++ b/src/software/thunderscope/robot_diagnostics/controller_base.py
@@ -0,0 +1,30 @@
+from abc import ABC, abstractmethod
+
+
+class ControllerBase(ABC):
+    """Abstract base class for controller input sources."""
+
+    @abstractmethod
+    def name(self) -> str:
+        """Get the display name of the input source."""
+        ...
+
+    @abstractmethod
+    def connected(self) -> bool:
+        """Return true if the input source is active and available."""
+        ...
+
+    @abstractmethod
+    def key_down(self, key_code: int) -> bool:
+        """Return true if the given key/button code is currently pressed."""
+        ...
+
+    @abstractmethod
+    def abs_value(self, abs_code: int) -> float:
+        """Return the current value of an axis, normalized to [-1, 1]."""
+        ...
+
+    @abstractmethod
+    def close(self) -> None:
+        """Release any resources held by the input source."""
+        ...
diff --git a/src/software/thunderscope/robot_diagnostics/handheld_controller.py b/src/software/thunderscope/robot_diagnostics/handheld_controller.py
index d3a39a3ab0..e78c4d7f89 100644
--- a/src/software/thunderscope/robot_diagnostics/handheld_controller.py
+++ b/src/software/thunderscope/robot_diagnostics/handheld_controller.py
@@ -8,8 +8,10 @@
 
 from threading import Thread
 
+from software.thunderscope.robot_diagnostics.controller_base import ControllerBase
 
-class HandheldController:
+
+class HandheldController(ControllerBase):
     """Represents a handheld game controller or input device that can be used
     to manually control our robots.
     """
diff --git a/src/software/thunderscope/robot_diagnostics/handheld_controller_widget.py b/src/software/thunderscope/robot_diagnostics/handheld_controller_widget.py
index 64d244da4c..2885a272ba 100644
--- a/src/software/thunderscope/robot_diagnostics/handheld_controller_widget.py
+++ b/src/software/thunderscope/robot_diagnostics/handheld_controller_widget.py
@@ -16,9 +16,13 @@
 
 from software.py_constants import *
 from software.thunderscope.constants import DiagnosticsConstants
+from software.thunderscope.robot_diagnostics.controller_base import ControllerBase
 from software.thunderscope.robot_diagnostics.handheld_controller import (
     HandheldController,
 )
+from software.thunderscope.robot_diagnostics.keyboard_controller import (
+    KeyboardController,
+)
 
 
 class HandheldControllerWidget(QWidget):
@@ -39,7 +43,7 @@ def __init__(self) -> None:
 
         self.constants = tbots_cpp.createRobotConstants()
 
-        self.handheld_controller: HandheldController | None = None
+        self.handheld_controller: ControllerBase | None = None
 
         self.last_d_pad_axis_x_value = 0
         self.last_d_pad_axis_y_value = 0
@@ -62,6 +66,8 @@ def detect_controller(self) -> None:
         handheld controller and, if one is found, set it as the device to accept
         controller inputs from.
         """
+        if self.handheld_controller is not None:
+            self.handheld_controller.close()
         self.handheld_controller = None
 
         for path in evdev.list_devices():
@@ -72,6 +78,13 @@ def detect_controller(self) -> None:
 
         self.__update_controller_status()
 
+    def use_keyboard_controller(self) -> None:
+        """Switch to keyboard input, closing any active controller first."""
+        if self.handheld_controller is not None:
+            self.handheld_controller.close()
+        self.handheld_controller = KeyboardController()
+        self.__update_controller_status()
+
     def controller_input_enabled(self) -> bool:
         """Check whether controller input is enabled.
 
@@ -105,15 +118,19 @@ def __create_widgets(self) -> QGroupBox:
         self.detect_controller_button = QPushButton("Detect Controller")
         self.detect_controller_button.clicked.connect(self.detect_controller)
 
+        self.use_keyboard_button = QPushButton("Use Keyboard")
+        self.use_keyboard_button.clicked.connect(self.use_keyboard_controller)
+
         self.enable_input_checkbox = QCheckBox("Enable Input")
         self.enable_input_checkbox.setChecked(False)
         self.enable_input_checkbox.setEnabled(True)
 
         grid_layout = QGridLayout()
-        grid_layout.addWidget(self.controller_status_label, 0, 0, 2, 1)
+        grid_layout.addWidget(self.controller_status_label, 0, 0, 3, 1)
         grid_layout.addWidget(self.detect_controller_button, 0, 1)
+        grid_layout.addWidget(self.use_keyboard_button, 1, 1)
         grid_layout.addWidget(
-            self.enable_input_checkbox, 1, 1, QtCore.Qt.AlignmentFlag.AlignHCenter
+            self.enable_input_checkbox, 2, 1, QtCore.Qt.AlignmentFlag.AlignHCenter
         )
         grid_layout.setColumnStretch(0, 4)
         grid_layout.setColumnStretch(1, 1)
diff --git a/src/software/thunderscope/robot_diagnostics/keyboard_controller.py b/src/software/thunderscope/robot_diagnostics/keyboard_controller.py
new file mode 100644
index 0000000000..7414f77edf
--- /dev/null
+++ b/src/software/thunderscope/robot_diagnostics/keyboard_controller.py
@@ -0,0 +1,88 @@
+from abc import ABCMeta
+
+from pyqtgraph.Qt.QtCore import Qt, QObject, QEvent
+from pyqtgraph.Qt.QtWidgets import QApplication
+
+from software.thunderscope.robot_diagnostics.controller_base import ControllerBase
+
+# evdev-independent copies of the ecodes values used by HandheldControllerWidget
+_ABS_X = 0
+_ABS_Y = 1
+_ABS_Z = 2
+_ABS_RX = 3
+_ABS_RZ = 5
+_ABS_HAT0X = 16
+_ABS_HAT0Y = 17
+_BTN_A = 304
+_BTN_B = 305
+
+# Maps abs_code -> (negative_key, positive_key).
+# A held negative key returns -1.0; a held positive key returns +1.0.
+_ABS_KEY_MAP: dict[int, tuple[Qt.Key | None, Qt.Key | None]] = {
+    _ABS_Y:     (Qt.Key.Key_W,    Qt.Key.Key_S),      # forward / back
+    _ABS_X:     (Qt.Key.Key_A,    Qt.Key.Key_D),      # strafe left / right
+    _ABS_RX:    (Qt.Key.Key_Q,    Qt.Key.Key_E),      # rotate CCW / CW
+    _ABS_Z:     (None,            Qt.Key.Key_Shift),  # slowdown (left trigger)
+    _ABS_HAT0X: (Qt.Key.Key_Left, Qt.Key.Key_Right),  # step kick power
+    _ABS_HAT0Y: (Qt.Key.Key_Up,   Qt.Key.Key_Down),   # step dribbler RPM
+    _ABS_RZ:    (None,            Qt.Key.Key_R),      # dribbler hold (right trigger)
+}
+
+# Maps key_code (ecodes int) -> Qt key for digital button inputs
+_BTN_KEY_MAP: dict[int, Qt.Key] = {
+    _BTN_A: Qt.Key.Key_X,  # kick
+    _BTN_B: Qt.Key.Key_C,      # chip
+}
+
+class _QABCMeta(type(QObject), ABCMeta):
+    pass
+
+class KeyboardController(QObject, ControllerBase, metaclass=_QABCMeta):
+    """Keyboard input source.
+
+    Installs a QApplication-level event filter so key events are captured
+    regardless of which widget currently has focus.
+    """
+
+    def __init__(self) -> None:
+        super().__init__()
+        self._held_keys: set[Qt.Key] = set()
+        self._active = True
+        QApplication.instance().installEventFilter(self)
+
+    def name(self) -> str:
+        return "Keyboard"
+
+    def connected(self) -> bool:
+        return self._active
+
+    def key_down(self, key_code: int) -> bool:
+        qt_key = _BTN_KEY_MAP.get(key_code)
+        if qt_key is None:
+            return False
+        return qt_key in self._held_keys
+
+    def abs_value(self, abs_code: int) -> float:
+        key_pair = _ABS_KEY_MAP.get(abs_code)
+        if key_pair is None:
+            return 0.0
+        neg_key, pos_key = key_pair
+        if neg_key is not None and neg_key in self._held_keys:
+            return -1.0
+        if pos_key is not None and pos_key in self._held_keys:
+            return 1.0
+        return 0.0
+
+    def close(self) -> None:
+        self._active = False
+        self._held_keys.clear()
+        app = QApplication.instance()
+        if app is not None:
+            app.removeEventFilter(self)
+
+    def eventFilter(self, obj: QObject, event: QEvent) -> bool:
+        if event.type() == QEvent.Type.KeyPress and not event.isAutoRepeat():
+            self._held_keys.add(Qt.Key(event.key()))
+        elif event.type() == QEvent.Type.KeyRelease and not event.isAutoRepeat():
+            self._held_keys.discard(Qt.Key(event.key()))
+        return False

From 538aadc4dd4d370b5450ad53c50952c3be05f418 Mon Sep 17 00:00:00 2001
From: "pre-commit-ci-lite[bot]"
 <117423508+pre-commit-ci-lite[bot]@users.noreply.github.com>
Date: Sat, 23 May 2026 22:42:45 +0000
Subject: [PATCH 02/14] [pre-commit.ci lite] apply automatic fixes

---
 .../thunderscope/robot_diagnostics/BUILD         |  8 ++++----
 .../robot_diagnostics/keyboard_controller.py     | 16 +++++++++-------
 2 files changed, 13 insertions(+), 11 deletions(-)

diff --git a/src/software/thunderscope/robot_diagnostics/BUILD b/src/software/thunderscope/robot_diagnostics/BUILD
index e3c5ef0370..c909bb87d3 100644
--- a/src/software/thunderscope/robot_diagnostics/BUILD
+++ b/src/software/thunderscope/robot_diagnostics/BUILD
@@ -28,7 +28,7 @@ py_library(
     srcs = ["keyboard_controller.py"],
     deps = [
         ":controller_base",
-    ]
+    ],
 )
 
 py_library(
@@ -36,7 +36,7 @@ py_library(
     srcs = ["handheld_controller.py"],
     deps = [
         ":controller_base",
-    ]
+    ],
 )
 
 py_library(
@@ -48,9 +48,9 @@ py_library(
     name = "handheld_controller_widget",
     srcs = ["handheld_controller_widget.py"],
     deps = [
-        ":handheld_controller",
-        ":controller_base",
         "keyboard_controller",
+        ":controller_base",
+        ":handheld_controller",
         "//software/thunderscope:constants",
         requirement("pyqtgraph"),
     ] + select({
diff --git a/src/software/thunderscope/robot_diagnostics/keyboard_controller.py b/src/software/thunderscope/robot_diagnostics/keyboard_controller.py
index 7414f77edf..580858fb8a 100644
--- a/src/software/thunderscope/robot_diagnostics/keyboard_controller.py
+++ b/src/software/thunderscope/robot_diagnostics/keyboard_controller.py
@@ -19,24 +19,26 @@
 # Maps abs_code -> (negative_key, positive_key).
 # A held negative key returns -1.0; a held positive key returns +1.0.
 _ABS_KEY_MAP: dict[int, tuple[Qt.Key | None, Qt.Key | None]] = {
-    _ABS_Y:     (Qt.Key.Key_W,    Qt.Key.Key_S),      # forward / back
-    _ABS_X:     (Qt.Key.Key_A,    Qt.Key.Key_D),      # strafe left / right
-    _ABS_RX:    (Qt.Key.Key_Q,    Qt.Key.Key_E),      # rotate CCW / CW
-    _ABS_Z:     (None,            Qt.Key.Key_Shift),  # slowdown (left trigger)
+    _ABS_Y: (Qt.Key.Key_W, Qt.Key.Key_S),  # forward / back
+    _ABS_X: (Qt.Key.Key_A, Qt.Key.Key_D),  # strafe left / right
+    _ABS_RX: (Qt.Key.Key_Q, Qt.Key.Key_E),  # rotate CCW / CW
+    _ABS_Z: (None, Qt.Key.Key_Shift),  # slowdown (left trigger)
     _ABS_HAT0X: (Qt.Key.Key_Left, Qt.Key.Key_Right),  # step kick power
-    _ABS_HAT0Y: (Qt.Key.Key_Up,   Qt.Key.Key_Down),   # step dribbler RPM
-    _ABS_RZ:    (None,            Qt.Key.Key_R),      # dribbler hold (right trigger)
+    _ABS_HAT0Y: (Qt.Key.Key_Up, Qt.Key.Key_Down),  # step dribbler RPM
+    _ABS_RZ: (None, Qt.Key.Key_R),  # dribbler hold (right trigger)
 }
 
 # Maps key_code (ecodes int) -> Qt key for digital button inputs
 _BTN_KEY_MAP: dict[int, Qt.Key] = {
     _BTN_A: Qt.Key.Key_X,  # kick
-    _BTN_B: Qt.Key.Key_C,      # chip
+    _BTN_B: Qt.Key.Key_C,  # chip
 }
 
+
 class _QABCMeta(type(QObject), ABCMeta):
     pass
 
+
 class KeyboardController(QObject, ControllerBase, metaclass=_QABCMeta):
     """Keyboard input source.
 

From 444654d90f9d72af333de85ac713ba36326eea08 Mon Sep 17 00:00:00 2001
From: Grayson <grayhoang@gmail.com>
Date: Mon, 29 Jun 2026 19:53:37 -0700
Subject: [PATCH 03/14] refactor

---
 .../thunderscope/robot_diagnostics/BUILD      |   8 +-
 .../robot_diagnostics/controller_base.py      |  40 +++++-
 .../robot_diagnostics/handheld_controller.py  | 116 +++++++++++++---
 .../handheld_controller_widget.py             |  72 +++-------
 .../robot_diagnostics/keyboard_controller.py  | 131 +++++++++++-------
 5 files changed, 239 insertions(+), 128 deletions(-)

diff --git a/src/software/thunderscope/robot_diagnostics/BUILD b/src/software/thunderscope/robot_diagnostics/BUILD
index c909bb87d3..2fa0d949c6 100644
--- a/src/software/thunderscope/robot_diagnostics/BUILD
+++ b/src/software/thunderscope/robot_diagnostics/BUILD
@@ -28,6 +28,8 @@ py_library(
     srcs = ["keyboard_controller.py"],
     deps = [
         ":controller_base",
+        "//software/thunderscope:constants",
+        requirement("pyqtgraph"),
     ],
 )
 
@@ -36,7 +38,11 @@ py_library(
     srcs = ["handheld_controller.py"],
     deps = [
         ":controller_base",
-    ],
+        "//software/thunderscope:constants",
+    ] + select({
+        "@platforms//os:linux": [requirement("evdev"), requirement("numpy")],
+        "//conditions:default": [requirement("numpy")],
+    }),
 )
 
 py_library(
diff --git a/src/software/thunderscope/robot_diagnostics/controller_base.py b/src/software/thunderscope/robot_diagnostics/controller_base.py
index ae438271cf..96ee529f1f 100644
--- a/src/software/thunderscope/robot_diagnostics/controller_base.py
+++ b/src/software/thunderscope/robot_diagnostics/controller_base.py
@@ -15,16 +15,44 @@ def connected(self) -> bool:
         ...
 
     @abstractmethod
-    def key_down(self, key_code: int) -> bool:
-        """Return true if the given key/button code is currently pressed."""
+    def close(self) -> None:
+        """Release any resources held by the input source."""
         ...
 
     @abstractmethod
-    def abs_value(self, abs_code: int) -> float:
-        """Return the current value of an axis, normalized to [-1, 1]."""
+    def get_move_velocity(self) -> tuple[float, float, float]:
+        """Return (x, y, angular) velocity, each normalized to [-1, 1] with deadzone applied.
+        Positive x = forward, positive y = strafe left, positive angular = CCW."""
         ...
 
     @abstractmethod
-    def close(self) -> None:
-        """Release any resources held by the input source."""
+    def get_speed_factor(self) -> float:
+        """Return 1.0 normally, or SPEED_SLOWDOWN_FACTOR when slowdown input is active."""
+        ...
+
+    @abstractmethod
+    def is_dribbler_held(self) -> bool:
+        """Return True if the dribbler engage input is active."""
+        ...
+
+    @abstractmethod
+    def get_kick_power_step(self) -> int:
+        """Return -1, 0, or +1 for kick/chip power step direction.
+        Non-zero only once per new input (edge-detected)."""
+        ...
+
+    @abstractmethod
+    def get_dribbler_step(self) -> int:
+        """Return -1, 0, or +1 for dribbler RPM step direction.
+        Non-zero only once per new input (edge-detected)."""
+        ...
+
+    @abstractmethod
+    def is_kick_fired(self) -> bool:
+        """Return True once per kick button press (rising edge only)."""
+        ...
+
+    @abstractmethod
+    def is_chip_fired(self) -> bool:
+        """Return True once per chip button press (rising edge only)."""
         ...
diff --git a/src/software/thunderscope/robot_diagnostics/handheld_controller.py b/src/software/thunderscope/robot_diagnostics/handheld_controller.py
index e78c4d7f89..6e815ca3a4 100644
--- a/src/software/thunderscope/robot_diagnostics/handheld_controller.py
+++ b/src/software/thunderscope/robot_diagnostics/handheld_controller.py
@@ -8,6 +8,7 @@
 
 from threading import Thread
 
+from software.thunderscope.constants import DiagnosticsConstants
 from software.thunderscope.robot_diagnostics.controller_base import ControllerBase
 
 
@@ -29,6 +30,11 @@ def __init__(self, path: str):
         self.supported_keys = set(capabilities[ecodes.EV_KEY])
         self.abs_info = dict(capabilities[ecodes.EV_ABS])
 
+        self._last_hat0x = 0
+        self._last_hat0y = 0
+        self._last_btn_a = False
+        self._last_btn_b = False
+
         self.thread = Thread(target=self.__read_input, daemon=True)
         self.thread.start()
 
@@ -46,26 +52,103 @@ def connected(self) -> bool:
         """
         return self.input_device is not None
 
-    def key_down(self, key_code: int) -> bool:
-        """Check whether the given key on the controller is currently pressed down.
+    def close(self) -> None:
+        """Close the connection to the controller."""
+        if self.input_device is not None:
+            self.input_values.clear()
+            self.input_device.close()
+            self.input_device = None
+
+    def get_move_velocity(self) -> tuple[float, float, float]:
+        """Return (x, y, angular) velocity normalized to [-1, 1] with deadzone applied.
+
+        :return: (vx, vy, vrot) where positive x = forward, positive y = strafe left,
+                 positive angular = CCW
+        """
+
+        def with_deadzone(v: float) -> float:
+            return v if abs(v) >= DiagnosticsConstants.DEADZONE_PERCENTAGE else 0.0
+
+        # Negate raw axis values: on most controllers, stick-up is negative ABS_Y,
+        # but semantic "forward" should be positive.
+        vx = -with_deadzone(self._get_abs_normalized(ecodes.ABS_Y))
+        vy = -with_deadzone(self._get_abs_normalized(ecodes.ABS_X))
+        vrot = -with_deadzone(self._get_abs_normalized(ecodes.ABS_RX))
+        return vx, vy, vrot
+
+    def get_speed_factor(self) -> float:
+        """Return 1.0 normally, or SPEED_SLOWDOWN_FACTOR when the left trigger is held.
+
+        :return: the speed scaling factor
+        """
+        trigger = self._get_abs_normalized(ecodes.ABS_Z)
+        return (
+            DiagnosticsConstants.SPEED_SLOWDOWN_FACTOR
+            if trigger > DiagnosticsConstants.BUTTON_PRESSED_THRESHOLD
+            else 1.0
+        )
+
+    def is_dribbler_held(self) -> bool:
+        """Return True if the right trigger is held past the button threshold.
+
+        :return: true if the dribbler engage input is active
+        """
+        return (
+            self._get_abs_normalized(ecodes.ABS_RZ)
+            > DiagnosticsConstants.BUTTON_PRESSED_THRESHOLD
+        )
+
+    def get_kick_power_step(self) -> int:
+        """Return the kick/chip power step direction from the d-pad x axis.
+        Non-zero only on a new press (edge-detected).
 
-        :param key_code: the EV_KEY code of the key to check
-        :return: true if the key is currently pressed down, false otherwise
+        :return: -1, 0, or +1
         """
-        if key_code not in self.supported_keys:
-            return False
+        current = round(self._get_abs_normalized(ecodes.ABS_HAT0X))
+        step = current if current != self._last_hat0x else 0
+        self._last_hat0x = current
+        return step
 
-        return bool(self.input_values.get(key_code, 0))
+    def get_dribbler_step(self) -> int:
+        """Return the dribbler RPM step direction from the d-pad y axis.
+        Non-zero only on a new press (edge-detected). Positive = increase RPM.
 
-    def abs_value(self, abs_code: int) -> float:
-        """Get the current value of an absolute axis input on the controller,
-        normalized to a range of [-1, 1].
+        :return: -1, 0, or +1
+        """
+        current = round(self._get_abs_normalized(ecodes.ABS_HAT0Y))
+        # Negate: d-pad up is HAT0Y=-1, but "increase dribbler" should be +1.
+        step = -current if current != self._last_hat0y else 0
+        self._last_hat0y = current
+        return step
 
-        :param abs_code: the EV_ABS code of the axis to check
-        :return: the value of the axis input, normalized to [-1, 1]
+    def is_kick_fired(self) -> bool:
+        """Return True once on the rising edge of the kick button (BTN_A).
+
+        :return: true if the kick button was just pressed
+        """
+        current = bool(self.input_values.get(ecodes.BTN_A, 0))
+        fired = current and not self._last_btn_a
+        self._last_btn_a = current
+        return fired
+
+    def is_chip_fired(self) -> bool:
+        """Return True once on the rising edge of the chip button (BTN_B).
+
+        :return: true if the chip button was just pressed
+        """
+        current = bool(self.input_values.get(ecodes.BTN_B, 0))
+        fired = current and not self._last_btn_b
+        self._last_btn_b = current
+        return fired
+
+    def _get_abs_normalized(self, abs_code: int) -> float:
+        """Return the current value of an absolute axis, normalized to [-1, 1].
+
+        :param abs_code: the EV_ABS code of the axis to read
+        :return: normalized axis value in [-1, 1]
         """
         if abs_code not in self.abs_info:
-            return 0
+            return 0.0
 
         value_min = self.abs_info[abs_code].min
         value_max = self.abs_info[abs_code].max
@@ -76,13 +159,6 @@ def abs_value(self, abs_code: int) -> float:
         else:
             return numpy.interp(value, (value_min, 0), (-1, 0))
 
-    def close(self) -> None:
-        """Close the connection to the controller."""
-        if self.input_device is not None:
-            self.input_values.clear()
-            self.input_device.close()
-            self.input_device = None
-
     def __read_input(self) -> None:
         """Endless loop that reads input events from the controller."""
         try:
diff --git a/src/software/thunderscope/robot_diagnostics/handheld_controller_widget.py b/src/software/thunderscope/robot_diagnostics/handheld_controller_widget.py
index 2885a272ba..6c707143ea 100644
--- a/src/software/thunderscope/robot_diagnostics/handheld_controller_widget.py
+++ b/src/software/thunderscope/robot_diagnostics/handheld_controller_widget.py
@@ -3,7 +3,6 @@
 # TODO: remove the try-catch when we rewrite this with macOS-compatible lib
 try:
     import evdev
-    from evdev import ecodes
 except ImportError:
     pass
 
@@ -45,11 +44,6 @@ def __init__(self) -> None:
 
         self.handheld_controller: ControllerBase | None = None
 
-        self.last_d_pad_axis_x_value = 0
-        self.last_d_pad_axis_y_value = 0
-        self.last_btn_a_value = False
-        self.last_btn_b_value = False
-
         self.motor_control = MotorControl()
         self.dribbler_speed = 0
         self.kick_power = DiagnosticsConstants.MIN_KICK_POWER
@@ -142,84 +136,54 @@ def __create_widgets(self) -> QGroupBox:
         return box
 
     def __read_controller_inputs(self) -> None:
-        """Read and interpret the current controller input values."""
-
-        def with_deadzone(abs_value: float) -> float:
-            return (
-                abs_value
-                if abs(abs_value) >= DiagnosticsConstants.DEADZONE_PERCENTAGE
-                else 0
-            )
-
-        move_axis_x = with_deadzone(self.handheld_controller.abs_value(ecodes.ABS_Y))
-        move_axis_y = with_deadzone(self.handheld_controller.abs_value(ecodes.ABS_X))
-        move_axis_rot = with_deadzone(self.handheld_controller.abs_value(ecodes.ABS_RX))
-
-        left_trigger_value = self.handheld_controller.abs_value(ecodes.ABS_Z)
-        speed_factor = (
-            DiagnosticsConstants.SPEED_SLOWDOWN_FACTOR
-            if left_trigger_value > DiagnosticsConstants.BUTTON_PRESSED_THRESHOLD
-            else 1
-        )
+        """Read controller state and update motor control proto."""
+        vx, vy, vrot = self.handheld_controller.get_move_velocity()
+        speed = self.handheld_controller.get_speed_factor()
 
         self.motor_control.direct_velocity_control.velocity.x_component_meters = (
-            -move_axis_x * self.constants.robot_max_speed_m_per_s * speed_factor
+            vx * self.constants.robot_max_speed_m_per_s * speed
         )
         self.motor_control.direct_velocity_control.velocity.y_component_meters = (
-            -move_axis_y * self.constants.robot_max_speed_m_per_s * speed_factor
+            vy * self.constants.robot_max_speed_m_per_s * speed
         )
         self.motor_control.direct_velocity_control.angular_velocity.radians_per_second = (
-            -move_axis_rot * self.constants.robot_max_ang_speed_rad_per_s * speed_factor
+            vrot * self.constants.robot_max_ang_speed_rad_per_s * speed
         )
 
-        d_pad_axis_x = self.handheld_controller.abs_value(ecodes.ABS_HAT0X)
-        d_pad_axis_y = self.handheld_controller.abs_value(ecodes.ABS_HAT0Y)
-
-        if d_pad_axis_x != self.last_d_pad_axis_x_value:
-            self.last_d_pad_axis_x_value = d_pad_axis_x
+        kick_step = self.handheld_controller.get_kick_power_step()
+        if kick_step:
             self.kick_power = numpy.clip(
-                a=self.kick_power
-                + int(d_pad_axis_x) * DiagnosticsConstants.KICK_POWER_STEPPER,
+                a=self.kick_power + kick_step * DiagnosticsConstants.KICK_POWER_STEPPER,
                 a_min=DiagnosticsConstants.MIN_KICK_POWER,
                 a_max=DiagnosticsConstants.MAX_KICK_POWER,
             )
             self.chip_distance = numpy.clip(
                 a=self.chip_distance
-                + d_pad_axis_x * DiagnosticsConstants.CHIP_DISTANCE_STEPPER,
+                + kick_step * DiagnosticsConstants.CHIP_DISTANCE_STEPPER,
                 a_min=DiagnosticsConstants.MIN_CHIP_POWER,
                 a_max=DiagnosticsConstants.MAX_CHIP_POWER,
             )
 
-        if d_pad_axis_y != self.last_d_pad_axis_y_value:
-            self.last_d_pad_axis_y_value = d_pad_axis_y
+        dribbler_step = self.handheld_controller.get_dribbler_step()
+        if dribbler_step:
             self.dribbler_speed = int(
                 numpy.clip(
                     a=self.dribbler_speed
-                    - d_pad_axis_y * DiagnosticsConstants.DRIBBLER_RPM_STEPPER,
+                    + dribbler_step * DiagnosticsConstants.DRIBBLER_RPM_STEPPER,
                     a_min=self.constants.indefinite_dribbler_speed_rpm,
                     a_max=-self.constants.indefinite_dribbler_speed_rpm,
                 )
             )
 
-        right_trigger_value = self.handheld_controller.abs_value(ecodes.ABS_RZ)
         self.motor_control.dribbler_speed_rpm = (
-            self.dribbler_speed
-            if right_trigger_value > DiagnosticsConstants.BUTTON_PRESSED_THRESHOLD
-            else 0
+            self.dribbler_speed if self.handheld_controller.is_dribbler_held() else 0
         )
 
-        btn_a = self.handheld_controller.key_down(ecodes.BTN_A)
-        btn_b = self.handheld_controller.key_down(ecodes.BTN_B)
-
-        if btn_a != self.last_btn_a_value:
-            self.last_btn_a_value = btn_a
-            if btn_a:
-                self.kick_button_pressed.emit()
+        if self.handheld_controller.is_kick_fired():
+            self.kick_button_pressed.emit()
 
-        if btn_b != self.last_btn_b_value:
-            self.last_btn_b_value = btn_b
-            if btn_b:
-                self.chip_button_pressed.emit()
+        if self.handheld_controller.is_chip_fired():
+            self.chip_button_pressed.emit()
 
     def __update_controller_status(self) -> None:
         """Update the widget to display the current controller connection status."""
diff --git a/src/software/thunderscope/robot_diagnostics/keyboard_controller.py b/src/software/thunderscope/robot_diagnostics/keyboard_controller.py
index 580858fb8a..31be08f1d8 100644
--- a/src/software/thunderscope/robot_diagnostics/keyboard_controller.py
+++ b/src/software/thunderscope/robot_diagnostics/keyboard_controller.py
@@ -3,37 +3,9 @@
 from pyqtgraph.Qt.QtCore import Qt, QObject, QEvent
 from pyqtgraph.Qt.QtWidgets import QApplication
 
+from software.thunderscope.constants import DiagnosticsConstants
 from software.thunderscope.robot_diagnostics.controller_base import ControllerBase
 
-# evdev-independent copies of the ecodes values used by HandheldControllerWidget
-_ABS_X = 0
-_ABS_Y = 1
-_ABS_Z = 2
-_ABS_RX = 3
-_ABS_RZ = 5
-_ABS_HAT0X = 16
-_ABS_HAT0Y = 17
-_BTN_A = 304
-_BTN_B = 305
-
-# Maps abs_code -> (negative_key, positive_key).
-# A held negative key returns -1.0; a held positive key returns +1.0.
-_ABS_KEY_MAP: dict[int, tuple[Qt.Key | None, Qt.Key | None]] = {
-    _ABS_Y: (Qt.Key.Key_W, Qt.Key.Key_S),  # forward / back
-    _ABS_X: (Qt.Key.Key_A, Qt.Key.Key_D),  # strafe left / right
-    _ABS_RX: (Qt.Key.Key_Q, Qt.Key.Key_E),  # rotate CCW / CW
-    _ABS_Z: (None, Qt.Key.Key_Shift),  # slowdown (left trigger)
-    _ABS_HAT0X: (Qt.Key.Key_Left, Qt.Key.Key_Right),  # step kick power
-    _ABS_HAT0Y: (Qt.Key.Key_Up, Qt.Key.Key_Down),  # step dribbler RPM
-    _ABS_RZ: (None, Qt.Key.Key_R),  # dribbler hold (right trigger)
-}
-
-# Maps key_code (ecodes int) -> Qt key for digital button inputs
-_BTN_KEY_MAP: dict[int, Qt.Key] = {
-    _BTN_A: Qt.Key.Key_X,  # kick
-    _BTN_B: Qt.Key.Key_C,  # chip
-}
-
 
 class _QABCMeta(type(QObject), ABCMeta):
     pass
@@ -44,12 +16,21 @@ class KeyboardController(QObject, ControllerBase, metaclass=_QABCMeta):
 
     Installs a QApplication-level event filter so key events are captured
     regardless of which widget currently has focus.
+
+    Analog axes (move velocity, speed factor, dribbler hold) are driven by
+    held keys. Stepped inputs (kick/chip power, dribbler RPM) and one-shot
+    actions (kick, chip) are set as pending flags in the event filter and
+    consumed on the first read.
     """
 
     def __init__(self) -> None:
         super().__init__()
         self._held_keys: set[Qt.Key] = set()
         self._active = True
+        self._pending_kick_power_step = 0
+        self._pending_dribbler_step = 0
+        self._pending_kick = False
+        self._pending_chip = False
         QApplication.instance().installEventFilter(self)
 
     def name(self) -> str:
@@ -58,23 +39,6 @@ def name(self) -> str:
     def connected(self) -> bool:
         return self._active
 
-    def key_down(self, key_code: int) -> bool:
-        qt_key = _BTN_KEY_MAP.get(key_code)
-        if qt_key is None:
-            return False
-        return qt_key in self._held_keys
-
-    def abs_value(self, abs_code: int) -> float:
-        key_pair = _ABS_KEY_MAP.get(abs_code)
-        if key_pair is None:
-            return 0.0
-        neg_key, pos_key = key_pair
-        if neg_key is not None and neg_key in self._held_keys:
-            return -1.0
-        if pos_key is not None and pos_key in self._held_keys:
-            return 1.0
-        return 0.0
-
     def close(self) -> None:
         self._active = False
         self._held_keys.clear()
@@ -82,9 +46,82 @@ def close(self) -> None:
         if app is not None:
             app.removeEventFilter(self)
 
+    def get_move_velocity(self) -> tuple[float, float, float]:
+        """Return (vx, vy, vrot) from held movement keys.
+
+        :return: (vx, vy, vrot) where positive x = forward (W), positive y = strafe left (A),
+                 positive angular = CCW (Q)
+        """
+
+        def axis(neg: Qt.Key, pos: Qt.Key) -> float:
+            if neg in self._held_keys:
+                return -1.0
+            if pos in self._held_keys:
+                return 1.0
+            return 0.0
+
+        return (
+            axis(Qt.Key.Key_S, Qt.Key.Key_W),
+            axis(Qt.Key.Key_D, Qt.Key.Key_A),
+            axis(Qt.Key.Key_E, Qt.Key.Key_Q),
+        )
+
+    def get_speed_factor(self) -> float:
+        """Return SPEED_SLOWDOWN_FACTOR if Shift is held, otherwise 1.0."""
+        return (
+            DiagnosticsConstants.SPEED_SLOWDOWN_FACTOR
+            if Qt.Key.Key_Shift in self._held_keys
+            else 0.75
+        )
+
+    def is_dribbler_held(self) -> bool:
+        """Return True if R is held."""
+        return Qt.Key.Key_R in self._held_keys
+
+    def get_kick_power_step(self) -> int:
+        """Consume and return the pending kick/chip power step (-1, 0, or +1).
+        Left arrow = -1, Right arrow = +1.
+        """
+        step = self._pending_kick_power_step
+        self._pending_kick_power_step = 0
+        return step
+
+    def get_dribbler_step(self) -> int:
+        """Consume and return the pending dribbler RPM step (-1, 0, or +1).
+        Up arrow = +1 (increase), Down arrow = -1 (decrease).
+        """
+        step = self._pending_dribbler_step
+        self._pending_dribbler_step = 0
+        return step
+
+    def is_kick_fired(self) -> bool:
+        """Consume and return whether a kick was pending (X key)."""
+        fired = self._pending_kick
+        self._pending_kick = False
+        return fired
+
+    def is_chip_fired(self) -> bool:
+        """Consume and return whether a chip was pending (C key)."""
+        fired = self._pending_chip
+        self._pending_chip = False
+        return fired
+
     def eventFilter(self, obj: QObject, event: QEvent) -> bool:
         if event.type() == QEvent.Type.KeyPress and not event.isAutoRepeat():
-            self._held_keys.add(Qt.Key(event.key()))
+            key = Qt.Key(event.key())
+            self._held_keys.add(key)
+            if key == Qt.Key.Key_Left:
+                self._pending_kick_power_step = -1
+            elif key == Qt.Key.Key_Right:
+                self._pending_kick_power_step = 1
+            elif key == Qt.Key.Key_Up:
+                self._pending_dribbler_step = 1
+            elif key == Qt.Key.Key_Down:
+                self._pending_dribbler_step = -1
+            elif key == Qt.Key.Key_X:
+                self._pending_kick = True
+            elif key == Qt.Key.Key_C:
+                self._pending_chip = True
         elif event.type() == QEvent.Type.KeyRelease and not event.isAutoRepeat():
             self._held_keys.discard(Qt.Key(event.key()))
         return False

From 037a706c44de57439ba71ce8d15ac7ec3aebdd0d Mon Sep 17 00:00:00 2001
From: "pre-commit-ci-lite[bot]"
 <117423508+pre-commit-ci-lite[bot]@users.noreply.github.com>
Date: Tue, 30 Jun 2026 03:12:36 +0000
Subject: [PATCH 04/14] [pre-commit.ci lite] apply automatic fixes

---
 src/software/thunderscope/robot_diagnostics/BUILD        | 5 ++++-
 .../thunderscope/robot_diagnostics/controller_base.py    | 9 ++++++---
 2 files changed, 10 insertions(+), 4 deletions(-)

diff --git a/src/software/thunderscope/robot_diagnostics/BUILD b/src/software/thunderscope/robot_diagnostics/BUILD
index 2fa0d949c6..a2c93d290b 100644
--- a/src/software/thunderscope/robot_diagnostics/BUILD
+++ b/src/software/thunderscope/robot_diagnostics/BUILD
@@ -40,7 +40,10 @@ py_library(
         ":controller_base",
         "//software/thunderscope:constants",
     ] + select({
-        "@platforms//os:linux": [requirement("evdev"), requirement("numpy")],
+        "@platforms//os:linux": [
+            requirement("evdev"),
+            requirement("numpy"),
+        ],
         "//conditions:default": [requirement("numpy")],
     }),
 )
diff --git a/src/software/thunderscope/robot_diagnostics/controller_base.py b/src/software/thunderscope/robot_diagnostics/controller_base.py
index 96ee529f1f..a759fbf33a 100644
--- a/src/software/thunderscope/robot_diagnostics/controller_base.py
+++ b/src/software/thunderscope/robot_diagnostics/controller_base.py
@@ -22,7 +22,8 @@ def close(self) -> None:
     @abstractmethod
     def get_move_velocity(self) -> tuple[float, float, float]:
         """Return (x, y, angular) velocity, each normalized to [-1, 1] with deadzone applied.
-        Positive x = forward, positive y = strafe left, positive angular = CCW."""
+        Positive x = forward, positive y = strafe left, positive angular = CCW.
+        """
         ...
 
     @abstractmethod
@@ -38,13 +39,15 @@ def is_dribbler_held(self) -> bool:
     @abstractmethod
     def get_kick_power_step(self) -> int:
         """Return -1, 0, or +1 for kick/chip power step direction.
-        Non-zero only once per new input (edge-detected)."""
+        Non-zero only once per new input (edge-detected).
+        """
         ...
 
     @abstractmethod
     def get_dribbler_step(self) -> int:
         """Return -1, 0, or +1 for dribbler RPM step direction.
-        Non-zero only once per new input (edge-detected)."""
+        Non-zero only once per new input (edge-detected).
+        """
         ...
 
     @abstractmethod

From eadc24d04f952e3a37182970d1115665d864ab82 Mon Sep 17 00:00:00 2001
From: Grayson <grayhoang@gmail.com>
Date: Mon, 29 Jun 2026 23:06:59 -0700
Subject: [PATCH 05/14] pygame

---
 src/software/thunderscope/BUILD               |   1 -
 src/software/thunderscope/constants.py        |   9 --
 src/software/thunderscope/requirements.in     |   2 +-
 .../thunderscope/requirements_lock.darwin.txt | 132 ----------------
 .../thunderscope/robot_diagnostics/BUILD      |  15 +-
 .../robot_diagnostics/controller_base.py      |   5 +
 .../robot_diagnostics/handheld_controller.py  | 149 +++++++++---------
 .../handheld_controller_widget.py             |  22 +--
 8 files changed, 93 insertions(+), 242 deletions(-)
 delete mode 100644 src/software/thunderscope/requirements_lock.darwin.txt

diff --git a/src/software/thunderscope/BUILD b/src/software/thunderscope/BUILD
index 769f9781f2..5d8fb1b7e0 100644
--- a/src/software/thunderscope/BUILD
+++ b/src/software/thunderscope/BUILD
@@ -6,7 +6,6 @@ package(default_visibility = ["//visibility:public"])
 compile_pip_requirements(
     name = "requirements",
     src = "requirements.in",
-    requirements_darwin = "requirements_lock.darwin.txt",
     requirements_txt = "requirements_lock.txt",
 )
 
diff --git a/src/software/thunderscope/constants.py b/src/software/thunderscope/constants.py
index 073dd2a95b..fb06901fbf 100644
--- a/src/software/thunderscope/constants.py
+++ b/src/software/thunderscope/constants.py
@@ -327,15 +327,6 @@ class TrailValues:
 class DiagnosticsConstants:
     """Constants for Robot Diagnostics"""
 
-    # Device names of the controllers supported for controlling robots
-    SUPPORTED_CONTROLLERS = {
-        "Microsoft Xbox One X pad",
-        "Microsoft X-Box One S pad",
-        "Microsoft X-Box 360 pad",
-        "Microsoft Xbox 360 pad",
-        "Generic X-Box pad",
-    }
-
     BUTTON_PRESSED_THRESHOLD = 0.5
     DEADZONE_PERCENTAGE = 0.20
 
diff --git a/src/software/thunderscope/requirements.in b/src/software/thunderscope/requirements.in
index 18c98bc70f..f7813b2d66 100644
--- a/src/software/thunderscope/requirements.in
+++ b/src/software/thunderscope/requirements.in
@@ -1,8 +1,8 @@
 colorama==0.4.6
 netifaces==0.11.0
-evdev==1.7.0; sys_platform == "linux"
 numpy==1.26.4
 protobuf==6.31.1
+pygame==2.6.1
 pyqtgraph==0.13.7
 pyqtdarktheme-fork==2.3.2
 PyQt6-Qt6==6.8.1
diff --git a/src/software/thunderscope/requirements_lock.darwin.txt b/src/software/thunderscope/requirements_lock.darwin.txt
deleted file mode 100644
index 55045c79c5..0000000000
--- a/src/software/thunderscope/requirements_lock.darwin.txt
+++ /dev/null
@@ -1,132 +0,0 @@
-#
-# This file is autogenerated by pip-compile with Python 3.12
-# by the following command:
-#
-#    bazel run //software/thunderscope:requirements.update
-#
-colorama==0.4.6 \
-    --hash=sha256:08695f5cb7ed6e0531a20572697297273c47b8cae5a63ffc6d6ed5c201be6e44 \
-    --hash=sha256:4f1d9991f5acc0ca119f9d443620b77f9d6b33703e51011c16baf57afb285fc6
-    # via -r software/thunderscope/requirements.in
-darkdetect==0.7.1 \
-    --hash=sha256:3efe69f8ecd5f1b7f4fbb0d1d93f656b0e493c45cc49222380ffe2a529cbc866 \
-    --hash=sha256:47be3cf5134432ddb616bbffc927237718407914993c82809983e7ccebf49013
-    # via pyqtdarktheme-fork
-netifaces==0.11.0 \
-    --hash=sha256:043a79146eb2907edf439899f262b3dfe41717d34124298ed281139a8b93ca32 \
-    --hash=sha256:08e3f102a59f9eaef70948340aeb6c89bd09734e0dca0f3b82720305729f63ea \
-    --hash=sha256:0f6133ac02521270d9f7c490f0c8c60638ff4aec8338efeff10a1b51506abe85 \
-    --hash=sha256:18917fbbdcb2d4f897153c5ddbb56b31fa6dd7c3fa9608b7e3c3a663df8206b5 \
-    --hash=sha256:2479bb4bb50968089a7c045f24d120f37026d7e802ec134c4490eae994c729b5 \
-    --hash=sha256:2650beee182fed66617e18474b943e72e52f10a24dc8cac1db36c41ee9c041b7 \
-    --hash=sha256:28f4bf3a1361ab3ed93c5ef360c8b7d4a4ae060176a3529e72e5e4ffc4afd8b0 \
-    --hash=sha256:3ecb3f37c31d5d51d2a4d935cfa81c9bc956687c6f5237021b36d6fdc2815b2c \
-    --hash=sha256:469fc61034f3daf095e02f9f1bbac07927b826c76b745207287bc594884cfd05 \
-    --hash=sha256:48324183af7f1bc44f5f197f3dad54a809ad1ef0c78baee2c88f16a5de02c4c9 \
-    --hash=sha256:50721858c935a76b83dd0dd1ab472cad0a3ef540a1408057624604002fcfb45b \
-    --hash=sha256:54ff6624eb95b8a07e79aa8817288659af174e954cca24cdb0daeeddfc03c4ff \
-    --hash=sha256:5be83986100ed1fdfa78f11ccff9e4757297735ac17391b95e17e74335c2047d \
-    --hash=sha256:5f9ca13babe4d845e400921973f6165a4c2f9f3379c7abfc7478160e25d196a4 \
-    --hash=sha256:73ff21559675150d31deea8f1f8d7e9a9a7e4688732a94d71327082f517fc6b4 \
-    --hash=sha256:7dbb71ea26d304e78ccccf6faccef71bb27ea35e259fb883cfd7fd7b4f17ecb1 \
-    --hash=sha256:815eafdf8b8f2e61370afc6add6194bd5a7252ae44c667e96c4c1ecf418811e4 \
-    --hash=sha256:841aa21110a20dc1621e3dd9f922c64ca64dd1eb213c47267a2c324d823f6c8f \
-    --hash=sha256:84e4d2e6973eccc52778735befc01638498781ce0e39aa2044ccfd2385c03246 \
-    --hash=sha256:8f7da24eab0d4184715d96208b38d373fd15c37b0dafb74756c638bd619ba150 \
-    --hash=sha256:96c0fe9696398253f93482c84814f0e7290eee0bfec11563bd07d80d701280c3 \
-    --hash=sha256:aab1dbfdc55086c789f0eb37affccf47b895b98d490738b81f3b2360100426be \
-    --hash=sha256:c03fb2d4ef4e393f2e6ffc6376410a22a3544f164b336b3a355226653e5efd89 \
-    --hash=sha256:c37a1ca83825bc6f54dddf5277e9c65dec2f1b4d0ba44b8fd42bc30c91aa6ea1 \
-    --hash=sha256:c92ff9ac7c2282009fe0dcb67ee3cd17978cffbe0c8f4b471c00fe4325c9b4d4 \
-    --hash=sha256:c9a3a47cd3aaeb71e93e681d9816c56406ed755b9442e981b07e3618fb71d2ac \
-    --hash=sha256:cb925e1ca024d6f9b4f9b01d83215fd00fe69d095d0255ff3f64bffda74025c8 \
-    --hash=sha256:d07b01c51b0b6ceb0f09fc48ec58debd99d2c8430b09e56651addeaf5de48048 \
-    --hash=sha256:e76c7f351e0444721e85f975ae92718e21c1f361bda946d60a214061de1f00a1 \
-    --hash=sha256:eb4813b77d5df99903af4757ce980a98c4d702bbcb81f32a0b305a1537bdf0b1
-    # via -r software/thunderscope/requirements.in
-numpy==1.26.4 \
-    --hash=sha256:03a8c78d01d9781b28a6989f6fa1bb2c4f2d51201cf99d3dd875df6fbd96b23b \
-    --hash=sha256:08beddf13648eb95f8d867350f6a018a4be2e5ad54c8d8caed89ebca558b2818 \
-    --hash=sha256:1af303d6b2210eb850fcf03064d364652b7120803a0b872f5211f5234b399f20 \
-    --hash=sha256:1dda2e7b4ec9dd512f84935c5f126c8bd8b9f2fc001e9f54af255e8c5f16b0e0 \
-    --hash=sha256:2a02aba9ed12e4ac4eb3ea9421c420301a0c6460d9830d74a9df87efa4912010 \
-    --hash=sha256:2e4ee3380d6de9c9ec04745830fd9e2eccb3e6cf790d39d7b98ffd19b0dd754a \
-    --hash=sha256:3373d5d70a5fe74a2c1bb6d2cfd9609ecf686d47a2d7b1d37a8f3b6bf6003aea \
-    --hash=sha256:47711010ad8555514b434df65f7d7b076bb8261df1ca9bb78f53d3b2db02e95c \
-    --hash=sha256:4c66707fabe114439db9068ee468c26bbdf909cac0fb58686a42a24de1760c71 \
-    --hash=sha256:50193e430acfc1346175fcbdaa28ffec49947a06918b7b92130744e81e640110 \
-    --hash=sha256:52b8b60467cd7dd1e9ed082188b4e6bb35aa5cdd01777621a1658910745b90be \
-    --hash=sha256:60dedbb91afcbfdc9bc0b1f3f402804070deed7392c23eb7a7f07fa857868e8a \
-    --hash=sha256:62b8e4b1e28009ef2846b4c7852046736bab361f7aeadeb6a5b89ebec3c7055a \
-    --hash=sha256:666dbfb6ec68962c033a450943ded891bed2d54e6755e35e5835d63f4f6931d5 \
-    --hash=sha256:675d61ffbfa78604709862923189bad94014bef562cc35cf61d3a07bba02a7ed \
-    --hash=sha256:679b0076f67ecc0138fd2ede3a8fd196dddc2ad3254069bcb9faf9a79b1cebcd \
-    --hash=sha256:7349ab0fa0c429c82442a27a9673fc802ffdb7c7775fad780226cb234965e53c \
-    --hash=sha256:7ab55401287bfec946ced39700c053796e7cc0e3acbef09993a9ad2adba6ca6e \
-    --hash=sha256:7e50d0a0cc3189f9cb0aeb3a6a6af18c16f59f004b866cd2be1c14b36134a4a0 \
-    --hash=sha256:95a7476c59002f2f6c590b9b7b998306fba6a5aa646b1e22ddfeaf8f78c3a29c \
-    --hash=sha256:96ff0b2ad353d8f990b63294c8986f1ec3cb19d749234014f4e7eb0112ceba5a \
-    --hash=sha256:9fad7dcb1aac3c7f0584a5a8133e3a43eeb2fe127f47e3632d43d677c66c102b \
-    --hash=sha256:9ff0f4f29c51e2803569d7a51c2304de5554655a60c5d776e35b4a41413830d0 \
-    --hash=sha256:a354325ee03388678242a4d7ebcd08b5c727033fcff3b2f536aea978e15ee9e6 \
-    --hash=sha256:a4abb4f9001ad2858e7ac189089c42178fcce737e4169dc61321660f1a96c7d2 \
-    --hash=sha256:ab47dbe5cc8210f55aa58e4805fe224dac469cde56b9f731a4c098b91917159a \
-    --hash=sha256:afedb719a9dcfc7eaf2287b839d8198e06dcd4cb5d276a3df279231138e83d30 \
-    --hash=sha256:b3ce300f3644fb06443ee2222c2201dd3a89ea6040541412b8fa189341847218 \
-    --hash=sha256:b97fe8060236edf3662adfc2c633f56a08ae30560c56310562cb4f95500022d5 \
-    --hash=sha256:bfe25acf8b437eb2a8b2d49d443800a5f18508cd811fea3181723922a8a82b07 \
-    --hash=sha256:cd25bcecc4974d09257ffcd1f098ee778f7834c3ad767fe5db785be9a4aa9cb2 \
-    --hash=sha256:d209d8969599b27ad20994c8e41936ee0964e6da07478d6c35016bc386b66ad4 \
-    --hash=sha256:d5241e0a80d808d70546c697135da2c613f30e28251ff8307eb72ba696945764 \
-    --hash=sha256:edd8b5fe47dab091176d21bb6de568acdd906d1887a4584a15a9a96a1dca06ef \
-    --hash=sha256:f870204a840a60da0b12273ef34f7051e98c3b5961b61b0c2c1be6dfd64fbcd3 \
-    --hash=sha256:ffa75af20b44f8dba823498024771d5ac50620e6915abac414251bd971b4529f
-    # via
-    #   -r software/thunderscope/requirements.in
-    #   pyqtgraph
-packaging==24.2 \
-    --hash=sha256:09abb1bccd265c01f4a3aa3f7a7db064b36514d2cba19a2f694fe6150451a759 \
-    --hash=sha256:c228a6dc5e932d346bc5739379109d49e8853dd8223571c7c5b55260edc0b97f
-    # via qtpy
-protobuf==6.31.1 \
-    --hash=sha256:0414e3aa5a5f3ff423828e1e6a6e907d6c65c1d5b7e6e975793d5590bdeecc16 \
-    --hash=sha256:426f59d2964864a1a366254fa703b8632dcec0790d8862d30034d8245e1cd447 \
-    --hash=sha256:4ee898bf66f7a8b0bd21bce523814e6fbd8c6add948045ce958b73af7e8878c6 \
-    --hash=sha256:6f1227473dc43d44ed644425268eb7c2e488ae245d51c6866d19fe158e207402 \
-    --hash=sha256:720a6c7e6b77288b85063569baae8536671b39f15cc22037ec7045658d80489e \
-    --hash=sha256:7fa17d5a29c2e04b7d90e5e32388b8bfd0e7107cd8e616feef7ed3fa6bdab5c9 \
-    --hash=sha256:8764cf4587791e7564051b35524b72844f845ad0bb011704c3736cce762d8fe9 \
-    --hash=sha256:a40fc12b84c154884d7d4c4ebd675d5b3b5283e155f324049ae396b95ddebc39 \
-    --hash=sha256:d8cac4c982f0b957a4dc73a80e2ea24fab08e679c0de9deb835f4a12d69aca9a
-    # via -r software/thunderscope/requirements.in
-pyqt-toast-notification==1.3.2 \
-    --hash=sha256:135736ec0f16bff41104dee3c60ac318e5d55ae3378bf26892c6d08c36088ae6 \
-    --hash=sha256:82688101202737736d51ab6c74a573b32266ecb7c8b0002f913407bd369737d9
-    # via -r software/thunderscope/requirements.in
-pyqt6-qt6==6.8.1 \
-    --hash=sha256:006d786693d0511fbcf184a862edbd339c6ed1bb3bd9de363d73a19ed4b23dff \
-    --hash=sha256:08065d595f1e6fc2dde9f4450eeff89082f4bad26f600a8e9b9cc5966716bfcf \
-    --hash=sha256:1eb8460a1fdb38d0b2458c2974c01d471c1e59e4eb19ea63fc447aaba3ad530e \
-    --hash=sha256:20843cb86bd94942d1cd99e39bf1aeabb875b241a35a8ab273e4bbbfa63776db \
-    --hash=sha256:9f3790c4ce4dc576e48b8718d55fb8743057e6cbd53a6ca1dd253ffbac9b7287 \
-    --hash=sha256:a8bc2ed4ee5e7c6ff4dd1c7db0b27705d151fee5dc232bbd1bf17618f937f515 \
-    --hash=sha256:d6ca5d2b9d2ec0ee4a814b2175f641a5c4299cb80b45e0f5f8356632663f89b3
-    # via -r software/thunderscope/requirements.in
-pyqtdarktheme-fork==2.3.2 \
-    --hash=sha256:3ea94fed5df262d960378409357c63032639f749794d766f41a45ad8558b2523 \
-    --hash=sha256:d96ee64f0884678fad9b6bc352d5e37d84ca786fa60ed32ffaa7e6c6bc67e964
-    # via -r software/thunderscope/requirements.in
-pyqtgraph==0.13.7 \
-    --hash=sha256:64f84f1935c6996d0e09b1ee66fe478a7771e3ca6f3aaa05f00f6e068321d9e3 \
-    --hash=sha256:7754edbefb6c367fa0dfb176e2d0610da3ada20aa7a5318516c74af5fb72bf7a
-    # via -r software/thunderscope/requirements.in
-qtawesome==1.4.0 \
-    --hash=sha256:783e414d1317f3e978bf67ea8e8a1b1498bad9dbd305dec814027e3b50521be6 \
-    --hash=sha256:a4d689fa071c595aa6184171ce1f0f847677cb8d2db45382c43129f1d72a3d93
-    # via -r software/thunderscope/requirements.in
-qtpy==2.4.2 \
-    --hash=sha256:5a696b1dd7a354cb330657da1d17c20c2190c72d4888ba923f8461da67aa1a1c \
-    --hash=sha256:9d6ec91a587cc1495eaebd23130f7619afa5cdd34a277acb87735b4ad7c65156
-    # via
-    #   pyqt-toast-notification
-    #   qtawesome
diff --git a/src/software/thunderscope/robot_diagnostics/BUILD b/src/software/thunderscope/robot_diagnostics/BUILD
index 2fa0d949c6..79937cdd63 100644
--- a/src/software/thunderscope/robot_diagnostics/BUILD
+++ b/src/software/thunderscope/robot_diagnostics/BUILD
@@ -39,10 +39,8 @@ py_library(
     deps = [
         ":controller_base",
         "//software/thunderscope:constants",
-    ] + select({
-        "@platforms//os:linux": [requirement("evdev"), requirement("numpy")],
-        "//conditions:default": [requirement("numpy")],
-    }),
+        requirement("pygame"),
+    ],
 )
 
 py_library(
@@ -54,17 +52,12 @@ py_library(
     name = "handheld_controller_widget",
     srcs = ["handheld_controller_widget.py"],
     deps = [
-        "keyboard_controller",
+        ":keyboard_controller",
         ":controller_base",
         ":handheld_controller",
         "//software/thunderscope:constants",
         requirement("pyqtgraph"),
-    ] + select({
-        # TODO: remove this selection when we replace evdev to
-        #   other macos supported libs.
-        "@platforms//os:linux": [requirement("evdev")],
-        "//conditions:default": [],
-    }),
+    ],
 )
 
 py_library(
diff --git a/src/software/thunderscope/robot_diagnostics/controller_base.py b/src/software/thunderscope/robot_diagnostics/controller_base.py
index 96ee529f1f..a8cbf304a3 100644
--- a/src/software/thunderscope/robot_diagnostics/controller_base.py
+++ b/src/software/thunderscope/robot_diagnostics/controller_base.py
@@ -19,6 +19,11 @@ def close(self) -> None:
         """Release any resources held by the input source."""
         ...
 
+    def update(self) -> None:
+        """Refresh controller input state. Called once per frame before reading inputs.
+        Override for polled backends; push-based controllers can leave this as a no-op."""
+        pass
+
     @abstractmethod
     def get_move_velocity(self) -> tuple[float, float, float]:
         """Return (x, y, angular) velocity, each normalized to [-1, 1] with deadzone applied.
diff --git a/src/software/thunderscope/robot_diagnostics/handheld_controller.py b/src/software/thunderscope/robot_diagnostics/handheld_controller.py
index 6e815ca3a4..1409934c71 100644
--- a/src/software/thunderscope/robot_diagnostics/handheld_controller.py
+++ b/src/software/thunderscope/robot_diagnostics/handheld_controller.py
@@ -1,63 +1,82 @@
-import numpy
+import os
 
-# TODO: remove the try-catch when we rewrite this with macOS-compatible lib
-try:
-    from evdev import InputDevice, ecodes
-except ImportError:
-    pass
+# Suppress the pygame "Hello from the pygame community" banner on import
+os.environ["PYGAME_HIDE_SUPPORT_PROMPT"] = "1"
 
-from threading import Thread
+import pygame
+from pygame._sdl2 import controller
 
 from software.thunderscope.constants import DiagnosticsConstants
 from software.thunderscope.robot_diagnostics.controller_base import ControllerBase
 
 
 class HandheldController(ControllerBase):
-    """Represents a handheld game controller or input device that can be used
-    to manually control our robots.
+    """Represents a handheld game controller (e.g. an Xbox gamepad) that can be
+    used to manually control our robots.
+
+    Backed by SDL's game-controller API (via pygame), which recognizes controllers
+    through its controller database and exposes a standardized button/axis layout.
+    Controllers are read in poll mode — call update() each frame before reading inputs.
     """
 
-    def __init__(self, path: str):
-        """Initialize a HandheldController that reads input events from
-        the specified device path.
+    # Raw SDL axis values span the signed 16-bit range.
+    _AXIS_MAX_VALUE = 32767
 
-        :param path: the device input path
-        """
-        self.input_device = InputDevice(path)
-        self.input_values: dict[int, float] = {}
+    def __init__(self, controller_index: int):
+        """Open the game controller at the given SDL device index.
 
-        capabilities = self.input_device.capabilities()
-        self.supported_keys = set(capabilities[ecodes.EV_KEY])
-        self.abs_info = dict(capabilities[ecodes.EV_ABS])
+        :param controller_index: the SDL device index of the controller
+        """
+        self.controller = controller.Controller(controller_index)
 
-        self._last_hat0x = 0
-        self._last_hat0y = 0
+        self._last_dpad_x = 0
+        self._last_dpad_y = 0
         self._last_btn_a = False
         self._last_btn_b = False
 
-        self.thread = Thread(target=self.__read_input, daemon=True)
-        self.thread.start()
+    @classmethod
+    def detect(cls) -> "HandheldController | None":
+        """Scan the currently connected devices for a supported game controller.
+
+        :return: a HandheldController for the first recognized controller, or
+            None if none is connected
+        """
+        controller.init()
+        # Poll mode: refresh state via update() instead of the SDL event queue,
+        # so no display/event subsystem is required.
+        controller.set_eventstate(False)
+        controller.update()
+
+        for index in range(controller.get_count()):
+            if controller.is_controller(index):
+                return cls(index)
+
+        return None
 
     def name(self) -> str:
         """Get the device name of the controller.
 
         :return: the device name
         """
-        return self.input_device.name
+        return self.controller.name
 
     def connected(self) -> bool:
         """Check whether the controller is currently connected.
 
         :return: true if the controller is connected, false otherwise
         """
-        return self.input_device is not None
+        return self.controller.attached()
+
+    def update(self) -> None:
+        """Refresh the controller's input state from SDL.
+
+        Must be called once per frame before reading any input values.
+        """
+        controller.update()
 
     def close(self) -> None:
         """Close the connection to the controller."""
-        if self.input_device is not None:
-            self.input_values.clear()
-            self.input_device.close()
-            self.input_device = None
+        self.controller.quit()
 
     def get_move_velocity(self) -> tuple[float, float, float]:
         """Return (x, y, angular) velocity normalized to [-1, 1] with deadzone applied.
@@ -69,11 +88,10 @@ def get_move_velocity(self) -> tuple[float, float, float]:
         def with_deadzone(v: float) -> float:
             return v if abs(v) >= DiagnosticsConstants.DEADZONE_PERCENTAGE else 0.0
 
-        # Negate raw axis values: on most controllers, stick-up is negative ABS_Y,
-        # but semantic "forward" should be positive.
-        vx = -with_deadzone(self._get_abs_normalized(ecodes.ABS_Y))
-        vy = -with_deadzone(self._get_abs_normalized(ecodes.ABS_X))
-        vrot = -with_deadzone(self._get_abs_normalized(ecodes.ABS_RX))
+        # Negate: SDL stick-up is negative LEFTY, but semantic "forward" = +vx.
+        vx = -with_deadzone(self._get_abs_normalized(pygame.CONTROLLER_AXIS_LEFTY))
+        vy = -with_deadzone(self._get_abs_normalized(pygame.CONTROLLER_AXIS_LEFTX))
+        vrot = -with_deadzone(self._get_abs_normalized(pygame.CONTROLLER_AXIS_RIGHTX))
         return vx, vy, vrot
 
     def get_speed_factor(self) -> float:
@@ -81,7 +99,7 @@ def get_speed_factor(self) -> float:
 
         :return: the speed scaling factor
         """
-        trigger = self._get_abs_normalized(ecodes.ABS_Z)
+        trigger = self._get_abs_normalized(pygame.CONTROLLER_AXIS_TRIGGERLEFT)
         return (
             DiagnosticsConstants.SPEED_SLOWDOWN_FACTOR
             if trigger > DiagnosticsConstants.BUTTON_PRESSED_THRESHOLD
@@ -94,76 +112,63 @@ def is_dribbler_held(self) -> bool:
         :return: true if the dribbler engage input is active
         """
         return (
-            self._get_abs_normalized(ecodes.ABS_RZ)
+            self._get_abs_normalized(pygame.CONTROLLER_AXIS_TRIGGERRIGHT)
             > DiagnosticsConstants.BUTTON_PRESSED_THRESHOLD
         )
 
     def get_kick_power_step(self) -> int:
-        """Return the kick/chip power step direction from the d-pad x axis.
+        """Return the kick/chip power step direction from the d-pad x buttons.
         Non-zero only on a new press (edge-detected).
 
         :return: -1, 0, or +1
         """
-        current = round(self._get_abs_normalized(ecodes.ABS_HAT0X))
-        step = current if current != self._last_hat0x else 0
-        self._last_hat0x = current
+        current = int(
+            self.controller.get_button(pygame.CONTROLLER_BUTTON_DPAD_RIGHT)
+        ) - int(self.controller.get_button(pygame.CONTROLLER_BUTTON_DPAD_LEFT))
+        step = current if current != self._last_dpad_x else 0
+        self._last_dpad_x = current
         return step
 
     def get_dribbler_step(self) -> int:
-        """Return the dribbler RPM step direction from the d-pad y axis.
+        """Return the dribbler RPM step direction from the d-pad y buttons.
         Non-zero only on a new press (edge-detected). Positive = increase RPM.
 
         :return: -1, 0, or +1
         """
-        current = round(self._get_abs_normalized(ecodes.ABS_HAT0Y))
-        # Negate: d-pad up is HAT0Y=-1, but "increase dribbler" should be +1.
-        step = -current if current != self._last_hat0y else 0
-        self._last_hat0y = current
+        current = int(
+            self.controller.get_button(pygame.CONTROLLER_BUTTON_DPAD_DOWN)
+        ) - int(self.controller.get_button(pygame.CONTROLLER_BUTTON_DPAD_UP))
+        # Negate: down = +1 raw → decrease dribbler → -1; up = -1 raw → increase → +1.
+        step = -current if current != self._last_dpad_y else 0
+        self._last_dpad_y = current
         return step
 
     def is_kick_fired(self) -> bool:
-        """Return True once on the rising edge of the kick button (BTN_A).
+        """Return True once on the rising edge of the kick button (A).
 
         :return: true if the kick button was just pressed
         """
-        current = bool(self.input_values.get(ecodes.BTN_A, 0))
+        current = bool(self.controller.get_button(pygame.CONTROLLER_BUTTON_A))
         fired = current and not self._last_btn_a
         self._last_btn_a = current
         return fired
 
     def is_chip_fired(self) -> bool:
-        """Return True once on the rising edge of the chip button (BTN_B).
+        """Return True once on the rising edge of the chip button (B).
 
         :return: true if the chip button was just pressed
         """
-        current = bool(self.input_values.get(ecodes.BTN_B, 0))
+        current = bool(self.controller.get_button(pygame.CONTROLLER_BUTTON_B))
         fired = current and not self._last_btn_b
         self._last_btn_b = current
         return fired
 
-    def _get_abs_normalized(self, abs_code: int) -> float:
-        """Return the current value of an absolute axis, normalized to [-1, 1].
+    def _get_abs_normalized(self, axis: int) -> float:
+        """Return the current value of an axis, normalized to [-1, 1].
 
-        :param abs_code: the EV_ABS code of the axis to read
+        :param axis: the pygame.CONTROLLER_AXIS_* code of the axis to read
         :return: normalized axis value in [-1, 1]
         """
-        if abs_code not in self.abs_info:
-            return 0.0
-
-        value_min = self.abs_info[abs_code].min
-        value_max = self.abs_info[abs_code].max
-        value = self.input_values.get(abs_code, 0)
-
-        if value >= 0:
-            return numpy.interp(value, (0, value_max), (0, 1))
-        else:
-            return numpy.interp(value, (value_min, 0), (-1, 0))
-
-    def __read_input(self) -> None:
-        """Endless loop that reads input events from the controller."""
-        try:
-            for event in self.input_device.read_loop():
-                if event.type == ecodes.EV_KEY or event.type == ecodes.EV_ABS:
-                    self.input_values[event.code] = event.value
-        except:
-            self.close()
+        return max(
+            -1.0, min(1.0, self.controller.get_axis(axis) / self._AXIS_MAX_VALUE)
+        )
diff --git a/src/software/thunderscope/robot_diagnostics/handheld_controller_widget.py b/src/software/thunderscope/robot_diagnostics/handheld_controller_widget.py
index 6c707143ea..5eb8cbc99d 100644
--- a/src/software/thunderscope/robot_diagnostics/handheld_controller_widget.py
+++ b/src/software/thunderscope/robot_diagnostics/handheld_controller_widget.py
@@ -1,11 +1,5 @@
 import numpy
 
-# TODO: remove the try-catch when we rewrite this with macOS-compatible lib
-try:
-    import evdev
-except ImportError:
-    pass
-
 from proto.import_all_protos import *
 from pyqtgraph.Qt.QtWidgets import *
 from pyqtgraph.Qt import QtCore
@@ -56,20 +50,13 @@ def __init__(self) -> None:
         self.detect_controller()
 
     def detect_controller(self) -> None:
-        """Scan through the list of currently connected devices for a supported
-        handheld controller and, if one is found, set it as the device to accept
+        """Scan the currently connected devices for a supported handheld
+        controller and, if one is found, set it as the device to accept
         controller inputs from.
         """
         if self.handheld_controller is not None:
             self.handheld_controller.close()
-        self.handheld_controller = None
-
-        for path in evdev.list_devices():
-            device = evdev.InputDevice(path)
-            if device.name in DiagnosticsConstants.SUPPORTED_CONTROLLERS:
-                self.handheld_controller = HandheldController(path)
-                break
-
+        self.handheld_controller = HandheldController.detect()
         self.__update_controller_status()
 
     def use_keyboard_controller(self) -> None:
@@ -90,7 +77,10 @@ def refresh(self) -> None:
         if self.handheld_controller is None:
             return
 
+        self.handheld_controller.update()
+
         if not self.handheld_controller.connected():
+            self.handheld_controller.close()
             self.handheld_controller = None
             self.__update_controller_status()
             return

From 733c4567503f2450c9d2f4b443d9061d65603b4e Mon Sep 17 00:00:00 2001
From: Grayson <grayhoang@gmail.com>
Date: Tue, 30 Jun 2026 21:25:24 -0700
Subject: [PATCH 06/14] requirementslock

---
 .../thunderscope/requirements_lock.txt        | 65 ++++++++++++++++++-
 1 file changed, 62 insertions(+), 3 deletions(-)

diff --git a/src/software/thunderscope/requirements_lock.txt b/src/software/thunderscope/requirements_lock.txt
index 1b4d0632ee..38a3b05b3c 100644
--- a/src/software/thunderscope/requirements_lock.txt
+++ b/src/software/thunderscope/requirements_lock.txt
@@ -12,9 +12,6 @@ darkdetect==0.7.1 \
     --hash=sha256:3efe69f8ecd5f1b7f4fbb0d1d93f656b0e493c45cc49222380ffe2a529cbc866 \
     --hash=sha256:47be3cf5134432ddb616bbffc927237718407914993c82809983e7ccebf49013
     # via pyqtdarktheme-fork
-evdev==1.7.0 ; sys_platform == "linux" \
-    --hash=sha256:95bd2a1e0c6ce2cd7a2ecc6e6cd9736ff794b3ad5cb54d81d8cbc2e414d0b870
-    # via -r software/thunderscope/requirements.in
 netifaces==0.11.0 \
     --hash=sha256:043a79146eb2907edf439899f262b3dfe41717d34124298ed281139a8b93ca32 \
     --hash=sha256:08e3f102a59f9eaef70948340aeb6c89bd09734e0dca0f3b82720305729f63ea \
@@ -102,6 +99,68 @@ protobuf==6.31.1 \
     --hash=sha256:a40fc12b84c154884d7d4c4ebd675d5b3b5283e155f324049ae396b95ddebc39 \
     --hash=sha256:d8cac4c982f0b957a4dc73a80e2ea24fab08e679c0de9deb835f4a12d69aca9a
     # via -r software/thunderscope/requirements.in
+pygame==2.6.1 \
+    --hash=sha256:00827aba089355925902d533f9c41e79a799641f03746c50a374dc5c3362e43d \
+    --hash=sha256:10e3d2a55f001f6c0a6eb44aa79ea7607091c9352b946692acedb2ac1482f1c9 \
+    --hash=sha256:1206125f14cae22c44565c9d333607f1d9f59487b1f1432945dfc809aeaa3e88 \
+    --hash=sha256:14f9dda45469b254c0f15edaaeaa85d2cc072ff6a83584a265f5d684c7f7efd8 \
+    --hash=sha256:15efaa11a80a65dd589a95bebe812fa5bfc7e14946b638a424c5bd9ac6cca1a4 \
+    --hash=sha256:163e66de169bd5670c86e27d0b74aad0d2d745e3b63cf4e7eb5b2bff1231ca8d \
+    --hash=sha256:173badf82fa198e6888017bea40f511cb28e69ecdd5a72b214e81e4dcd66c3b1 \
+    --hash=sha256:17498a2b043bc0e795faedef1b081199c688890200aef34991c1941caa2d2c89 \
+    --hash=sha256:20349195326a5e82a16e351ed93465a7845a7e2a9af55b7bc1b2110ea3e344e1 \
+    --hash=sha256:21160d9093533eb831f1b708e630706e5ac16b30750571ec27bc3b8364814f38 \
+    --hash=sha256:27eb17e3dc9640e4b4683074f1890e2e879827447770470c2aba9f125f74510b \
+    --hash=sha256:28b43190436037e428a5be28fc80cf6615304fd528009f2c688cc828f4ff104b \
+    --hash=sha256:2a3a1288e2e9b1e5834e425bedd5ba01a3cd4902b5c2bff8ed4a740ccfe98171 \
+    --hash=sha256:2a615d78b2364e86f541458ff41c2a46181b9a1e9eabd97b389282fdf04efbb3 \
+    --hash=sha256:325a84d072d52e3c2921eff02f87c6a74b7e77d71db3bdf53801c6c975f1b6c4 \
+    --hash=sha256:33006f784e1c7d7e466fcb61d5489da59cc5f7eb098712f792a225df1d4e229d \
+    --hash=sha256:3a9e7396be0d9633831c3f8d5d82dd63ba373ad65599628294b7a4f8a5a01a65 \
+    --hash=sha256:3acd8c009317190c2bfd81db681ecef47d5eb108c2151d09596d9c7ea9df5c0e \
+    --hash=sha256:3bede70ec708057e305815d6546012669226d1d80566785feca9b044216062e7 \
+    --hash=sha256:481cfe1bdbb7fe00acc5950c494c26f00240888619bdc396fc8c39a734797432 \
+    --hash=sha256:4a8ea113b1bf627322a025a1a5a87e3818a7f55ab3a4077ff1ae5c8c60576614 \
+    --hash=sha256:4c1623180e70a03c4a734deb9bac50fc9c82942ae84a3a220779062128e75f3b \
+    --hash=sha256:4ee7f2771f588c966fa2fa8b829be26698c9b4836f82ede5e4edc1a68594942e \
+    --hash=sha256:56fb02ead529cee00d415c3e007f75e0780c655909aaa8e8bf616ee09c9feb1f \
+    --hash=sha256:56ffca6059b165bbf64f4b4be23b8068f6a0e220780e4f96ec0bb5ac3c63ec39 \
+    --hash=sha256:5d09fd950725d187aa5207c0cb8eb9ab0d2f8ce9ab8d189c30eeb470e71b617e \
+    --hash=sha256:6582aa71a681e02e55d43150a9ab41394e6bf4d783d2962a10aea58f424be060 \
+    --hash=sha256:7103c60939bbc1e05cfc7ba3f1d2ad3bbf103b7828b82a7166a9ab6f51950146 \
+    --hash=sha256:7bffdd3eaf394d9645331d1c3a5df9d782ebcc3c5a78f3b657c7879a828dd111 \
+    --hash=sha256:811e7b925146d8149d79193652cbb83e0eca0aae66476b1cb310f0f4226b8b5c \
+    --hash=sha256:813af4fba5d0b2cb8e58f5d95f7910295c34067dcc290d34f1be59c48bd1ea6a \
+    --hash=sha256:816e85000c5d8b02a42b9834f761a5925ef3377d2924e3a7c4c143d2990ce5b8 \
+    --hash=sha256:818b4eaec9c4acb6ac64805d4ca8edd4062bebca77bd815c18739fe2842c97e9 \
+    --hash=sha256:84fc4054e25262140d09d39e094f6880d730199710829902f0d8ceae0213379e \
+    --hash=sha256:8a78fd030d98faab4a8e27878536fdff7518d3e062a72761c552f624ebba5a5f \
+    --hash=sha256:91476902426facd4bb0dad4dc3b2573bc82c95c71b135e0daaea072ed528d299 \
+    --hash=sha256:94afd1177680d92f9214c54966ad3517d18210c4fbc5d84a0192d218e93647e0 \
+    --hash=sha256:97ac4e13847b6b293ecaffa5ffce9886c98d09c03309406931cc592f0cea6366 \
+    --hash=sha256:9beeb647e555afb5657111fa83acb74b99ad88761108eaea66472e8b8547b55b \
+    --hash=sha256:9dd5c054d4bd875a8caf978b82672f02bec332f52a833a76899220c460bb4b58 \
+    --hash=sha256:a1bf7ab5311bbced70320f1a56701650b4c18231343ae5af42111eea91e0949a \
+    --hash=sha256:a4b8f04fceddd9a3ac30778d11f0254f59efcd1c382d5801271113cea8b4f2f3 \
+    --hash=sha256:a620883d589926f157b8f1d1f543183ac52e5c30507dea445e3927ae0bee1c54 \
+    --hash=sha256:ac3f033d2be4a9e23660a96afe2986df3a6916227538a6a0061bc218c5088507 \
+    --hash=sha256:ae6039f3a55d800db80e8010f387557b528d34d534435e0871326804df2a62f2 \
+    --hash=sha256:b46e68cd168f44d0224c670bb72186688fc692d7079715f79d04096757d703d0 \
+    --hash=sha256:b7f9f8e6f76de36f4725175d686601214af362a4f30614b4dae2240198e72e6f \
+    --hash=sha256:bbb7167c92103a2091366e9af26d4914ba3776666e8677d3c93551353fffa626 \
+    --hash=sha256:c0b11356ac96261162d54a2c2b41a41978f00525631b01ec9c4fe26b01c66595 \
+    --hash=sha256:c31dbdb5d0217f32764797d21c2752e258e5fb7e895326538d82b5f75a0cd856 \
+    --hash=sha256:c47a6938de93fa610accd4969e638c2aebcb29b2fca518a84c3a39d91ab47116 \
+    --hash=sha256:c8040ea2ab18c6b255af706ec01355c8a6b08dc48d77fd4ee783f8fc46a843bf \
+    --hash=sha256:ce8cc108b92de9b149b344ad2e25eedbe773af0dc41dfb24d1f07f679b558c60 \
+    --hash=sha256:d1a7f2b66ac2e4c9583b6d4c6d6f346fb10a3392c04163f537061f86a448ed5c \
+    --hash=sha256:d29eb9a93f12aa3d997b6e3c447ac85b2a4b142ab2548441523a8fcf5e216042 \
+    --hash=sha256:da3ad64d685f84a34ebe5daacb39fff14f1251acb34c098d760d63fee768f50c \
+    --hash=sha256:ef07c0103d79492c21fced9ad68c11c32efa6801ca1920ebfd0f15fb46c78b1c \
+    --hash=sha256:f3935459109da4bb0b3901da9904f0a3e52028a3332a355d298b1673a334cf21 \
+    --hash=sha256:f84f15d146d6aa93254008a626c56ef96fed276006202881a47b29757f0cd65a \
+    --hash=sha256:fb6e8d0547f30ddc845f4fd1e33070ef548233ad0dbf21f7ecea768883d1bbdc
+    # via -r software/thunderscope/requirements.in
 pyqt-toast-notification==1.3.2 \
     --hash=sha256:135736ec0f16bff41104dee3c60ac318e5d55ae3378bf26892c6d08c36088ae6 \
     --hash=sha256:82688101202737736d51ab6c74a573b32266ecb7c8b0002f913407bd369737d9

From 4d750e7fc936bda60f8643e768d6ea26d9b9d76d Mon Sep 17 00:00:00 2001
From: "pre-commit-ci-lite[bot]"
 <117423508+pre-commit-ci-lite[bot]@users.noreply.github.com>
Date: Wed, 1 Jul 2026 06:35:39 +0000
Subject: [PATCH 07/14] [pre-commit.ci lite] apply automatic fixes

---
 src/software/thunderscope/requirements_lock.txt               | 4 ----
 src/software/thunderscope/robot_diagnostics/BUILD             | 2 +-
 .../thunderscope/robot_diagnostics/controller_base.py         | 3 ++-
 3 files changed, 3 insertions(+), 6 deletions(-)

diff --git a/src/software/thunderscope/requirements_lock.txt b/src/software/thunderscope/requirements_lock.txt
index b13d47dc07..38a3b05b3c 100644
--- a/src/software/thunderscope/requirements_lock.txt
+++ b/src/software/thunderscope/requirements_lock.txt
@@ -182,10 +182,6 @@ pyqtgraph==0.13.7 \
     --hash=sha256:64f84f1935c6996d0e09b1ee66fe478a7771e3ca6f3aaa05f00f6e068321d9e3 \
     --hash=sha256:7754edbefb6c367fa0dfb176e2d0610da3ada20aa7a5318516c74af5fb72bf7a
     # via -r software/thunderscope/requirements.in
-pyserial==3.5 \
-    --hash=sha256:3c77e014170dfffbd816e6ffc205e9842efb10be9f58ec16d3e8675b4925cddb \
-    --hash=sha256:c4451db6ba391ca6ca299fb3ec7bae67a5c55dde170964c7a14ceefec02f2cf0
-    # via -r software/thunderscope/requirements.in
 qtawesome==1.4.0 \
     --hash=sha256:783e414d1317f3e978bf67ea8e8a1b1498bad9dbd305dec814027e3b50521be6 \
     --hash=sha256:a4d689fa071c595aa6184171ce1f0f847677cb8d2db45382c43129f1d72a3d93
diff --git a/src/software/thunderscope/robot_diagnostics/BUILD b/src/software/thunderscope/robot_diagnostics/BUILD
index 79937cdd63..d8d6510aec 100644
--- a/src/software/thunderscope/robot_diagnostics/BUILD
+++ b/src/software/thunderscope/robot_diagnostics/BUILD
@@ -52,9 +52,9 @@ py_library(
     name = "handheld_controller_widget",
     srcs = ["handheld_controller_widget.py"],
     deps = [
-        ":keyboard_controller",
         ":controller_base",
         ":handheld_controller",
+        ":keyboard_controller",
         "//software/thunderscope:constants",
         requirement("pyqtgraph"),
     ],
diff --git a/src/software/thunderscope/robot_diagnostics/controller_base.py b/src/software/thunderscope/robot_diagnostics/controller_base.py
index a62997b5d4..8a5f5fb5f1 100644
--- a/src/software/thunderscope/robot_diagnostics/controller_base.py
+++ b/src/software/thunderscope/robot_diagnostics/controller_base.py
@@ -21,7 +21,8 @@ def close(self) -> None:
 
     def update(self) -> None:
         """Refresh controller input state. Called once per frame before reading inputs.
-        Override for polled backends; push-based controllers can leave this as a no-op."""
+        Override for polled backends; push-based controllers can leave this as a no-op.
+        """
         pass
 
     @abstractmethod

From 8421b5b666cdcd29cc431fbf904e1aaa677e953a Mon Sep 17 00:00:00 2001
From: Avah Xiao <avahxiao@gmail.com>
Date: Sat, 15 Aug 2026 11:27:09 -0700
Subject: [PATCH 08/14] Remove outdated pyserial reference

---
 src/software/thunderscope/BUILD | 1 -
 1 file changed, 1 deletion(-)

diff --git a/src/software/thunderscope/BUILD b/src/software/thunderscope/BUILD
index e0a7391396..2a0e71a543 100644
--- a/src/software/thunderscope/BUILD
+++ b/src/software/thunderscope/BUILD
@@ -192,6 +192,5 @@ py_library(
     data = ["//software:py_constants.so"],
     deps = [
         "//software/thunderscope:constants",
-        requirement("pyserial"),
     ],
 )

From 1f8e8e8a630680837fb2596ff0698379e86afe8a Mon Sep 17 00:00:00 2001
From: Avah Xiao <avahxiao@gmail.com>
Date: Tue, 18 Aug 2026 20:20:53 -0700
Subject: [PATCH 09/14] Revert "Remove outdated pyserial reference"

This reverts commit 8421b5b666cdcd29cc431fbf904e1aaa677e953a.
---
 src/software/thunderscope/BUILD | 1 +
 1 file changed, 1 insertion(+)

diff --git a/src/software/thunderscope/BUILD b/src/software/thunderscope/BUILD
index 2a0e71a543..e0a7391396 100644
--- a/src/software/thunderscope/BUILD
+++ b/src/software/thunderscope/BUILD
@@ -192,5 +192,6 @@ py_library(
     data = ["//software:py_constants.so"],
     deps = [
         "//software/thunderscope:constants",
+        requirement("pyserial"),
     ],
 )

From 38b8e91d47f9cf309864cf66954d8b738a1b2e35 Mon Sep 17 00:00:00 2001
From: Avah Xiao <avahxiao@gmail.com>
Date: Tue, 18 Aug 2026 20:21:02 -0700
Subject: [PATCH 10/14] Add back pyserial requirement for estop helper

---
 src/software/thunderscope/requirements.in | 1 +
 1 file changed, 1 insertion(+)

diff --git a/src/software/thunderscope/requirements.in b/src/software/thunderscope/requirements.in
index f7813b2d66..ae5dea9fc3 100644
--- a/src/software/thunderscope/requirements.in
+++ b/src/software/thunderscope/requirements.in
@@ -2,6 +2,7 @@ colorama==0.4.6
 netifaces==0.11.0
 numpy==1.26.4
 protobuf==6.31.1
+pyserial==3.5
 pygame==2.6.1
 pyqtgraph==0.13.7
 pyqtdarktheme-fork==2.3.2

From d4d1c838452f0e6acb71f8870fba7ce3d07c6175 Mon Sep 17 00:00:00 2001
From: Avah Xiao <avahxiao@gmail.com>
Date: Tue, 18 Aug 2026 20:24:03 -0700
Subject: [PATCH 11/14] Regenerate requirements lock

---
 src/software/thunderscope/requirements_lock.txt | 4 ++++
 1 file changed, 4 insertions(+)

diff --git a/src/software/thunderscope/requirements_lock.txt b/src/software/thunderscope/requirements_lock.txt
index 38a3b05b3c..b13d47dc07 100644
--- a/src/software/thunderscope/requirements_lock.txt
+++ b/src/software/thunderscope/requirements_lock.txt
@@ -182,6 +182,10 @@ pyqtgraph==0.13.7 \
     --hash=sha256:64f84f1935c6996d0e09b1ee66fe478a7771e3ca6f3aaa05f00f6e068321d9e3 \
     --hash=sha256:7754edbefb6c367fa0dfb176e2d0610da3ada20aa7a5318516c74af5fb72bf7a
     # via -r software/thunderscope/requirements.in
+pyserial==3.5 \
+    --hash=sha256:3c77e014170dfffbd816e6ffc205e9842efb10be9f58ec16d3e8675b4925cddb \
+    --hash=sha256:c4451db6ba391ca6ca299fb3ec7bae67a5c55dde170964c7a14ceefec02f2cf0
+    # via -r software/thunderscope/requirements.in
 qtawesome==1.4.0 \
     --hash=sha256:783e414d1317f3e978bf67ea8e8a1b1498bad9dbd305dec814027e3b50521be6 \
     --hash=sha256:a4d689fa071c595aa6184171ce1f0f847677cb8d2db45382c43129f1d72a3d93

From d59caa4ebd50b98768de2adbcb3433f3a47d8790 Mon Sep 17 00:00:00 2001
From: Avah Xiao <avahxiao@gmail.com>
Date: Sat, 29 Aug 2026 15:37:02 -0700
Subject: [PATCH 12/14] Rename to IControllerBase

---
 .../thunderscope/robot_diagnostics/controller_base.py         | 2 +-
 .../thunderscope/robot_diagnostics/handheld_controller.py     | 4 ++--
 .../robot_diagnostics/handheld_controller_widget.py           | 4 ++--
 .../thunderscope/robot_diagnostics/keyboard_controller.py     | 4 ++--
 4 files changed, 7 insertions(+), 7 deletions(-)

diff --git a/src/software/thunderscope/robot_diagnostics/controller_base.py b/src/software/thunderscope/robot_diagnostics/controller_base.py
index 8a5f5fb5f1..1b5d1686ae 100644
--- a/src/software/thunderscope/robot_diagnostics/controller_base.py
+++ b/src/software/thunderscope/robot_diagnostics/controller_base.py
@@ -1,7 +1,7 @@
 from abc import ABC, abstractmethod
 
 
-class ControllerBase(ABC):
+class IControllerBase(ABC):
     """Abstract base class for controller input sources."""
 
     @abstractmethod
diff --git a/src/software/thunderscope/robot_diagnostics/handheld_controller.py b/src/software/thunderscope/robot_diagnostics/handheld_controller.py
index 1409934c71..f760467a13 100644
--- a/src/software/thunderscope/robot_diagnostics/handheld_controller.py
+++ b/src/software/thunderscope/robot_diagnostics/handheld_controller.py
@@ -7,10 +7,10 @@
 from pygame._sdl2 import controller
 
 from software.thunderscope.constants import DiagnosticsConstants
-from software.thunderscope.robot_diagnostics.controller_base import ControllerBase
+from software.thunderscope.robot_diagnostics.controller_base import IControllerBase
 
 
-class HandheldController(ControllerBase):
+class HandheldController(IControllerBase):
     """Represents a handheld game controller (e.g. an Xbox gamepad) that can be
     used to manually control our robots.
 
diff --git a/src/software/thunderscope/robot_diagnostics/handheld_controller_widget.py b/src/software/thunderscope/robot_diagnostics/handheld_controller_widget.py
index ea9391130b..41b1f658d1 100644
--- a/src/software/thunderscope/robot_diagnostics/handheld_controller_widget.py
+++ b/src/software/thunderscope/robot_diagnostics/handheld_controller_widget.py
@@ -7,7 +7,7 @@
 import software.python_bindings as tbots_cpp
 
 from software.thunderscope.constants import DiagnosticsConstants
-from software.thunderscope.robot_diagnostics.controller_base import ControllerBase
+from software.thunderscope.robot_diagnostics.controller_base import IControllerBase
 from software.thunderscope.robot_diagnostics.handheld_controller import (
     HandheldController,
 )
@@ -34,7 +34,7 @@ def __init__(self) -> None:
 
         self.constants = tbots_cpp.createRobotConstants()
 
-        self.handheld_controller: ControllerBase | None = None
+        self.handheld_controller: IControllerBase | None = None
 
         self.motor_control = protos.MotorControl()
         self.dribbler_speed = 0
diff --git a/src/software/thunderscope/robot_diagnostics/keyboard_controller.py b/src/software/thunderscope/robot_diagnostics/keyboard_controller.py
index 31be08f1d8..5d3e09b7ab 100644
--- a/src/software/thunderscope/robot_diagnostics/keyboard_controller.py
+++ b/src/software/thunderscope/robot_diagnostics/keyboard_controller.py
@@ -4,14 +4,14 @@
 from pyqtgraph.Qt.QtWidgets import QApplication
 
 from software.thunderscope.constants import DiagnosticsConstants
-from software.thunderscope.robot_diagnostics.controller_base import ControllerBase
+from software.thunderscope.robot_diagnostics.controller_base import IControllerBase
 
 
 class _QABCMeta(type(QObject), ABCMeta):
     pass
 
 
-class KeyboardController(QObject, ControllerBase, metaclass=_QABCMeta):
+class KeyboardController(QObject, IControllerBase, metaclass=_QABCMeta):
     """Keyboard input source.
 
     Installs a QApplication-level event filter so key events are captured

From 954c7f30857ef82cab2b9697f3f5a2312d8a7bdc Mon Sep 17 00:00:00 2001
From: Avah Xiao <avahxiao@gmail.com>
Date: Sat, 29 Aug 2026 16:35:07 -0700
Subject: [PATCH 13/14] Make code consistent with docs

---
 .../thunderscope/robot_diagnostics/keyboard_controller.py       | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/software/thunderscope/robot_diagnostics/keyboard_controller.py b/src/software/thunderscope/robot_diagnostics/keyboard_controller.py
index 5d3e09b7ab..7fc622ab0e 100644
--- a/src/software/thunderscope/robot_diagnostics/keyboard_controller.py
+++ b/src/software/thunderscope/robot_diagnostics/keyboard_controller.py
@@ -71,7 +71,7 @@ def get_speed_factor(self) -> float:
         return (
             DiagnosticsConstants.SPEED_SLOWDOWN_FACTOR
             if Qt.Key.Key_Shift in self._held_keys
-            else 0.75
+            else 1.0
         )
 
     def is_dribbler_held(self) -> bool:

From 67b9937cb7bef338f933aa8b8e65848abb501c57 Mon Sep 17 00:00:00 2001
From: Avah Xiao <avahxiao@gmail.com>
Date: Sat, 29 Aug 2026 16:37:35 -0700
Subject: [PATCH 14/14] Get rid of unnecessary placeholders

---
 .../thunderscope/robot_diagnostics/controller_base.py | 11 -----------
 1 file changed, 11 deletions(-)

diff --git a/src/software/thunderscope/robot_diagnostics/controller_base.py b/src/software/thunderscope/robot_diagnostics/controller_base.py
index 1b5d1686ae..e2b64ba7a7 100644
--- a/src/software/thunderscope/robot_diagnostics/controller_base.py
+++ b/src/software/thunderscope/robot_diagnostics/controller_base.py
@@ -7,61 +7,50 @@ class IControllerBase(ABC):
     @abstractmethod
     def name(self) -> str:
         """Get the display name of the input source."""
-        ...
 
     @abstractmethod
     def connected(self) -> bool:
         """Return true if the input source is active and available."""
-        ...
 
     @abstractmethod
     def close(self) -> None:
         """Release any resources held by the input source."""
-        ...
 
     def update(self) -> None:
         """Refresh controller input state. Called once per frame before reading inputs.
         Override for polled backends; push-based controllers can leave this as a no-op.
         """
-        pass
 
     @abstractmethod
     def get_move_velocity(self) -> tuple[float, float, float]:
         """Return (x, y, angular) velocity, each normalized to [-1, 1] with deadzone applied.
         Positive x = forward, positive y = strafe left, positive angular = CCW.
         """
-        ...
 
     @abstractmethod
     def get_speed_factor(self) -> float:
         """Return 1.0 normally, or SPEED_SLOWDOWN_FACTOR when slowdown input is active."""
-        ...
 
     @abstractmethod
     def is_dribbler_held(self) -> bool:
         """Return True if the dribbler engage input is active."""
-        ...
 
     @abstractmethod
     def get_kick_power_step(self) -> int:
         """Return -1, 0, or +1 for kick/chip power step direction.
         Non-zero only once per new input (edge-detected).
         """
-        ...
 
     @abstractmethod
     def get_dribbler_step(self) -> int:
         """Return -1, 0, or +1 for dribbler RPM step direction.
         Non-zero only once per new input (edge-detected).
         """
-        ...
 
     @abstractmethod
     def is_kick_fired(self) -> bool:
         """Return True once per kick button press (rising edge only)."""
-        ...
 
     @abstractmethod
     def is_chip_fired(self) -> bool:
         """Return True once per chip button press (rising edge only)."""
-        ...