Using keyboard as a controller

Hello All,

First time posting here.  I am quite new to pycharm.  I am trying to control a robotic arm using a usb connection and pycharm.  I can send the arm commands using input(), but would like to upgrade to a more direct control.

is there a way i can store which button on the keyboard is being pressed so i can create a w,a,s,d style controller?  i would also like the arm to continue moving as long as the button is pressed and stop when it is released.

is there a command already in pycharm that would allow me to do this?  is there a module i can import?  Do i need to use a GUI builder like pyQT to set this up?

My google skills have failed me.  All my search results keep coming up with pycharm keyboard shortcuts.

Thank you for any help.