--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/joy.py	Mon Jul 07 20:17:32 2014 +0000
@@ -0,0 +1,40 @@
+import pygame
+
+import kubik
+
+
+FPS = 12
+
+
+pygame.display.init()
+pygame.joystick.init()
+pygame.mixer.init()
+
+clock = pygame.time.Clock()
+hello = pygame.mixer.Sound('~/sound/Turret_turret_active_5.wav')
+robot = kubik.Robot()
+
+for joy in range(pygame.joystick.get_count()):
+    pygame.joystick.Joystick(joy).init()
+
+robot.home()
+while True:
+    for event in pygame.event.get():
+        if event.type == pygame.JOYBUTTONDOWN:
+            hello.play()
+            print "Hello!"
+        elif event.type == pygame.JOYAXISMOTION:
+            print event.axis, event.value
+            if event.axis == 0:
+                for leg in robot.legs[:2]:
+                    leg.move_to((30 + 20 * event.value, None, None))
+                for leg in robot.legs[2:]:
+                    leg.move_to((30 - 20 * event.value, None, None))
+            elif event.axis == 1:
+                for leg in robot.legs:
+                    leg.move_to((None, 40 * event.value, None))
+            elif event.axis == 2:
+                for leg in robot.legs:
+                    leg.move_to((None, None, -30 - 30 * event.value))
+    robot.update()
+    clock.tick(FPS)