Below is an overview of how you can integrate your Windows 11 controller (via your Python scripts) with Synthiam ARC to control your tank tracks using an H-Bridge (via PWM control) on your Arduino Nano running EZB Firmware.

Overview of the Approach

1. Controller to Python Server Communication

   Your Python server script (running on your ARC-enabled PC) listens on a TCP port (in your case, port 5555) for XInput events from your Windows 11 controller.

   When a controller button is pressed or an analog axis moves, your server receives the event, updates an internal state (such as duty cycle values or directional flags), and prints/logs the information.

2. Python Server to ARC Integration

   Once the controller events are processed, you want to forward these events (or trigger actions) inside ARC.

   There are two common ways to do this:

   • Option A: Update ARC Global Variables and Call ARC Commands in a Python Script Running Within ARC
     You can create an ARC Python script (or a robot skill that supports Python) that monitors variables (like $LeftMotorPWM and $RightMotorPWM) and then calls the built-in PWM.set() function to adjust the tank motors.

   • Option B: Write an ARC robot skill with a Built-in TCP Client
     Implement a TCP client within an ARC Python script that directly connects to your Python server. Once connected, when you receive the controller events, you immediately trigger ARC commands (for example, PWM.set(d0, dutyCycle)) to update motor speeds.

3. Mapping Controller Events to H-Bridge Motor Control

   Depending on your tank drive setup, you’ll likely have two PWM channels (one for each track).

   For example, you might assign:

   • Left track PWM to a digital port (say, d0).
   • Right track PWM to a different digital port (say, d1).

   In your ARC Python script, you could map the analog joystick values (or the trigger values) to duty cycles (0-100) and then call:

   PWM.set(d0, leftDutyCycle);
   PWM.set(d1, rightDutyCycle);
   

   ARC’s built-in sleep() (which uses milliseconds) and global variable functions (getVar()/setVar()) can help you manage timing and share state between scripts.

Step-by-Step Integration

1. Testing Your Controller Input

   First, verify that your Anbernic Win600 controller is correctly detected and that your Python server script (provided in your example) is receiving the XInput events.

   You can use the printed output (for example, verifying the values for LX, LY, triggers, and DPad events) to ensure the mapping is as you expect.

2. Mapping Input to PWM Duty Cycle

   Once you have confirmed the controller input is received, decide how you wish to map the analog inputs (e.g., left joystick X and Y, triggers) to the motor speeds.

   For instance, a simple mapping might mean:

   // Pseudocode using the ARC PWM command:
   // Map analog values (e.g., from -1.0 to 1.0) to PWM duty cycle (0 to 100)
   var leftDutyCycle = (LX_value + 1) * 50;  // where LX_value from left joystick X axis
   var rightDutyCycle = (RX_value + 1) * 50; // using right joystick or complementary control
   PWM.set(d0, leftDutyCycle);
   PWM.set(d1, rightDutyCycle);
   

   You can adjust the mapping depending on whether you want differential steering (one motor increasing speed and the other decreasing).

3. Integrating With ARC Python Scripting

   ARC allows you to run Python scripts that can call functions like PWM.set() and update global variables with setVar()/getVar().

   For example, create an ARC Python script (inside a Script Skill) with code similar to:

   import asyncio
   
   # Example function to update PWM using ARC's Python API
   def update_pwm(left_value, right_value):
       # Map your left_value and right_value (which could be between -1 and 1) to 0-100 range
       left_duty = int((left_value + 1) * 50)   # (0 to 100)
       right_duty = int((right_value + 1) * 50)   # (0 to 100)
   
       # Assuming d0 and d1 are the PWM ports for left and right motors
       PWM.set(d0, left_duty)
       PWM.set(d1, right_duty)
   
       # Optionally print the values for debugging:
       print("Left PWM:", left_duty, "Right PWM:", right_duty)
   
   # Example integration loop (you need to adapt this to your async setup)
   async def main_loop():
       while True:
           # For demonstration, here we would retrieve variables updated by your client
           # For example, assume getVar("$LeftStick") returns a value between -1.0 and 1.0
           left_value = float(getVar("$LeftStick", 0))
           right_value = float(getVar("$RightStick", 0))
           update_pwm(left_value, right_value)
           sleep(100)  # wait 100ms between updates
   
   # Run the loop
   asyncio.run(main_loop())
   

   Modify the above code to fit your mapping strategy. The basic idea is to update ARC with PWM commands based on the incoming controller data.

4. Mapping Additional Buttons

   For extra functions (such as triggering other ARC skills or script events based on button presses), you can similarly use ARC’s commands.

   For example, if button A is pressed, you might call a command via:

   if getVar("$ButtonA") == "True":
       controlCommand(Camera, StartCamera)  # As an example command
   

   Define a mapping from your controller button names (as processed in your Python server) to global variables inside ARC, and then have your ARC Python script or Script Skill poll and react.

5. Running the Integrated Setup

   Ensure that both the external Python server and your ARC Python integration are running on the same PC (or have a reliable network connection if on separate systems).

   Test the entire flow:

   • Verify the controller input.
   • Check that the Python server updates the state.
   • Confirm that ARC receives the state (either directly via a built-in TCP client or via shared global variables) and sends the correct PWM.set() commands to control your motors properly.

Additional Considerations

• Direct ARC XInput Skill:
  Before building a completely custom solution, consider that ARC already includes a Joystick (XInput) Skill. This native skill may handle mapping of analog values and button presses, and you might be able to modify or extend it (or merely use some of its functionality) to suit your tank track control needs.

• Creating Custom Robot Skills:
  If you need features not offered in default ARC skills, you can create your own robot skill following the guide here:
  Create robot skill Overview

• Documentation and Resources:
  Synthiam ARC Downloads
  PWM Python API Documentation
  Python API Overview

Final Thoughts and Questions

Yes, it is feasible to use your Windows 11 controller with your Python server to handle XInput and then integrate with Synthiam ARC for controlling the tank tracks via PWM to an H-Bridge. The key points are:

• Receiving and parsing your controller events correctly.
• Mapping these events to PWM duty cycles.
• Calling ARC Python functions (like PWM.set) to effect the changes on your motors.
• Optionally, mapping additional button inputs to trigger other ARC skills.

Do you have any questions on any specific part of this setup? For example, would you like more detailed guidance on the TCP/client integration with ARC Python, or further help on mapping the controller's analog values to PWM duty cycle percentages? Feel free to ask!