def __init__(self, motors, master):
"""
Joystick is graphic obj, which gives you possibility to control motors by mouse or
build in functions.
:param motors: Motors obj, which is controlled by joystick.
:param master: Frame where joystick will be placed.
"""
super().__init__(master, bg="grey")
self.configure(width=800, height=600)
self._motors = motors
self._start_joystick_position = Coordinates(self.winfo_width() // 2,
self.winfo_height() // 2)
self._actual_joystick_position = self._start_joystick_position
self.master.bind("<Configure>", self.handle_resize, add="+")
self.bind("<ButtonRelease-1>", self.close_joystick)
self.bind('<B1-Motion>', self.callback, '+')
self._joystick_head_radius = self.winfo_width()
self._joystick_bottom_radius = self._joystick_head_radius * 1.3
self._joystick_head = self.create_oval(0, 0, 0, 0, fill="#5E5D5D")
self._joystick_bottom = self.create_oval(0, 0, 0, 0, fill="#443C3C")
self.tag_raise(self._joystick_head)
self._relative_joystick_size = 0.5
self._turn = 0
self._forward = 0
self._keys_pressed = 0
self._speed_limit = 0.5
self._boost = 0.05
def test_move(self):
self.assertAlmostEqual(self.p0.move(Coordinates(2, 2), 2**.5).x,
self.p1.x,
places=8)
self.assertAlmostEqual(self.p0.move(Coordinates(2, 2), 2**.5).y,
self.p1.y,
places=8)
class TestCoordinates(unittest.TestCase):
def setUp(self):
self.p0 = Coordinates(0, 0)
self.p1 = Coordinates(1, 1)
self.p2 = Coordinates(3, 4)
def test__init__(self):
self.assertEqual(Coordinates(0, 0), self.p0)
with self.assertRaises(ValueError):
Coordinates("a", 5)
def test__str__(self):
self.assertEqual(str(self.p1), "(1; 1)")
def test__eq__(self):
with self.assertRaises(AttributeError):
x = self.p1 == (1, 1)
self.assertEqual(self.p1, Coordinates(1, 1))
self.assertNotEqual(self.p1, self.p2)
def test__add__(self):
self.assertEqual(self.p1 + self.p0, self.p1)
self.assertEqual(self.p1 + self.p2, Coordinates(4, 5))
def test__neg__(self):
self.assertEqual(-self.p1, Coordinates(-1, -1))
def test__sub__(self):
self.assertEqual(self.p1 - self.p2, Coordinates(-2, -3))
def test_dist_to(self):
self.assertEqual(self.p2.dist_to(self.p0), 5)
def test_in_ball(self):
self.assertTrue(self.p1.in_ball(2, self.p0))
self.assertFalse(self.p1.in_ball(0.5, self.p0))
def test_get_alpha(self):
self.assertEqual(Coordinates(1, 0).get_alpha(), 0)
self.assertEqual(Coordinates(0, 1).get_alpha(), pi / 2)
self.assertEqual(self.p1.get_alpha(), pi / 4)
with self.assertRaises(ValueError):
self.p0.get_alpha()
def test_move(self):
self.assertAlmostEqual(self.p0.move(Coordinates(2, 2), 2**.5).x,
self.p1.x,
places=8)
self.assertAlmostEqual(self.p0.move(Coordinates(2, 2), 2**.5).y,
self.p1.y,
places=8)
def test_tuple(self):
self.assertEqual(self.p2.tuple, (3, 4))
self.p2.tuple = (6, 12)
self.assertEqual(self.p2.tuple, (6, 12))
def _set_new_joystick_position(self, x, y):
"""
This function get new joystick head position.
:param x: potential new horizontal position of joystick head center
:param y: potential new vertical position of joystick head center
:return: updated joystick position
"""
dst_to_start = Coordinates(x, y).dist_to(self._start_joystick_position)
current_max_dist = self._joystick_bottom_radius * self.speed_limit
expected_new_position = Coordinates(x, y)
if dst_to_start <= current_max_dist:
self._actual_joystick_position = expected_new_position
else:
furthest_point_in_expected_direction = self._start_joystick_position.move(
expected_new_position, current_max_dist)
self._actual_joystick_position = furthest_point_in_expected_direction
return self._actual_joystick_position
def push_backward(self):
"""
This function allows to move joystick backward without using mouse.
:return: None
"""
excepted_forward_speed = self._forward + self._joystick_bottom_radius * self.boost
max_forward_speed = self._joystick_bottom_radius * self._speed_limit
self._forward = min(excepted_forward_speed, max_forward_speed)
self._actual_joystick_position += Coordinates(self._turn,
self._forward)
self.callback(self._actual_joystick_position)
def push_left(self):
"""
This function allows to move joystick left without using mouse.
:return: None
"""
excepted_turn_speed = self._turn - self._joystick_bottom_radius * self.boost
min_turn_speed = -self._joystick_bottom_radius * self._speed_limit
self._turn = max(excepted_turn_speed, min_turn_speed)
self._actual_joystick_position += Coordinates(self._turn,
self._forward)
self.callback(self._actual_joystick_position)
def setUp(self):
self.p0 = Coordinates(0, 0)
self.p1 = Coordinates(1, 1)
self.p2 = Coordinates(3, 4)
def test_get_alpha(self):
self.assertEqual(Coordinates(1, 0).get_alpha(), 0)
self.assertEqual(Coordinates(0, 1).get_alpha(), pi / 2)
self.assertEqual(self.p1.get_alpha(), pi / 4)
with self.assertRaises(ValueError):
self.p0.get_alpha()
def test__sub__(self):
self.assertEqual(self.p1 - self.p2, Coordinates(-2, -3))
def test__neg__(self):
self.assertEqual(-self.p1, Coordinates(-1, -1))
def test__add__(self):
self.assertEqual(self.p1 + self.p0, self.p1)
self.assertEqual(self.p1 + self.p2, Coordinates(4, 5))
def test__eq__(self):
with self.assertRaises(AttributeError):
x = self.p1 == (1, 1)
self.assertEqual(self.p1, Coordinates(1, 1))
self.assertNotEqual(self.p1, self.p2)
def test__init__(self):
self.assertEqual(Coordinates(0, 0), self.p0)
with self.assertRaises(ValueError):
Coordinates("a", 5)
class Joysitck(tk.Canvas):
def __init__(self, motors, master):
"""
Joystick is graphic obj, which gives you possibility to control motors by mouse or
build in functions.
:param motors: Motors obj, which is controlled by joystick.
:param master: Frame where joystick will be placed.
"""
super().__init__(master, bg="grey")
self.configure(width=800, height=600)
self._motors = motors
self._start_joystick_position = Coordinates(self.winfo_width() // 2,
self.winfo_height() // 2)
self._actual_joystick_position = self._start_joystick_position
self.master.bind("<Configure>", self.handle_resize, add="+")
self.bind("<ButtonRelease-1>", self.close_joystick)
self.bind('<B1-Motion>', self.callback, '+')
self._joystick_head_radius = self.winfo_width()
self._joystick_bottom_radius = self._joystick_head_radius * 1.3
self._joystick_head = self.create_oval(0, 0, 0, 0, fill="#5E5D5D")
self._joystick_bottom = self.create_oval(0, 0, 0, 0, fill="#443C3C")
self.tag_raise(self._joystick_head)
self._relative_joystick_size = 0.5
self._turn = 0
self._forward = 0
self._keys_pressed = 0
self._speed_limit = 0.5
self._boost = 0.05
def callback(self, event):
"""
This function determinates joystick behavior, when it is dragged.
:param event: event tkinter.Event obj
:return: None
"""
self._set_new_joystick_position(event.x, event.y)
self._update_joystick_head_position_on_canvas()
motors_speeds = self._translate_stick_position_to_motor_speed()
self._motors.move_car(motors_speeds)
def _set_new_joystick_position(self, x, y):
"""
This function get new joystick head position.
:param x: potential new horizontal position of joystick head center
:param y: potential new vertical position of joystick head center
:return: updated joystick position
"""
dst_to_start = Coordinates(x, y).dist_to(self._start_joystick_position)
current_max_dist = self._joystick_bottom_radius * self.speed_limit
expected_new_position = Coordinates(x, y)
if dst_to_start <= current_max_dist:
self._actual_joystick_position = expected_new_position
else:
furthest_point_in_expected_direction = self._start_joystick_position.move(
expected_new_position, current_max_dist)
self._actual_joystick_position = furthest_point_in_expected_direction
return self._actual_joystick_position
def _update_joystick_head_position_on_canvas(self):
"""
This function draws joystick with new position, on canvas.
:return: None
"""
draw_obj_in_new_position = self.coords
joystick_head_circle = Circle(self._actual_joystick_position,
self._joystick_head_radius)
joystick_bottom_circle = Circle(self._start_joystick_position,
self._joystick_bottom_radius)
draw_obj_in_new_position(self._joystick_head,
joystick_head_circle.get_spanning_points())
draw_obj_in_new_position(self._joystick_bottom,
joystick_bottom_circle.get_spanning_points())
def _translate_stick_position_to_motor_speed(self):
"""
This function translates joystick position to motors speeds and updates them.
:return: None
"""
centred_stick_position = self._actual_joystick_position - self._start_joystick_position
relative_joystick_position = self._get_relative_joystick_position(
centred_stick_position)
motors_speeds = Joysitck._get_motors_speeds(relative_joystick_position)
return motors_speeds
def _get_relative_joystick_position(self, joystick_position):
turn, forward = joystick_position
relative_turn = turn / self._joystick_bottom_radius
relative_forward = forward / self._joystick_bottom_radius
return relative_turn, relative_forward
@staticmethod
def _get_motors_speeds(joystick_position):
signed_square = lambda x: x * abs(x)
signed_sqrt = lambda x: -(-x)**.5 if x < 0 else x**.5
turn, forward = joystick_position
left_motor_speed = (
signed_sqrt(signed_square(-forward) + signed_square(turn)))
right_motor_speed = (
signed_sqrt(signed_square(-forward) - signed_square(turn)))
return left_motor_speed, right_motor_speed
def close_joystick(self, event):
"""
This function resets joystick head position to joystick centre.
:param event: tkinter.Event obj
:return: None
"""
no_speed_on_both_motors = 0, 0
self._return_joystick_to_center()
self._motors.move_car(no_speed_on_both_motors)
def _return_joystick_to_center(self):
self._actual_joystick_position = self._start_joystick_position
self._update_joystick_head_position_on_canvas()
def place(self, relheight=0, relwidth=0, relx=0, rely=0):
super().place(relheight=relheight,
relwidth=relwidth,
relx=relx,
rely=rely)
self._relative_joystick_size = self._relative_joystick_size * min(
relheight, relwidth)
self._return_joystick_to_center()
def update(self):
"""
This function updates joystick head position on canvas.
:return: None
"""
super(Joysitck, self).update()
self._update_start_position()
self._update_joystick_size()
self._update_joystick_head_position_on_canvas()
def _update_start_position(self):
self._start_joystick_position = Coordinates(self.winfo_width() // 2,
self.winfo_height() // 2)
def _update_joystick_size(self):
shorter_screen_edge = min(self.winfo_width(), self.winfo_height())
self._joystick_head_radius = shorter_screen_edge * self._relative_joystick_size
joystick_bottom_to_head_ratio = 1.3
self._joystick_bottom_radius = self._joystick_head_radius * joystick_bottom_to_head_ratio
def handle_resize(self, event):
"""
This function corrects size of joystick, when window size changed.
:param event: is obj type tkinter.Event
:return: None
"""
self.update()
self._return_joystick_to_center()
def push_left(self):
"""
This function allows to move joystick left without using mouse.
:return: None
"""
excepted_turn_speed = self._turn - self._joystick_bottom_radius * self.boost
min_turn_speed = -self._joystick_bottom_radius * self._speed_limit
self._turn = max(excepted_turn_speed, min_turn_speed)
self._actual_joystick_position += Coordinates(self._turn,
self._forward)
self.callback(self._actual_joystick_position)
def push_right(self):
"""
This function allows to move joystick right without using mouse.
:return: None
"""
excepted_turn_speed = self._turn + self._joystick_bottom_radius * self.boost
max_turn_speed = self._joystick_bottom_radius * self._speed_limit
self._turn = min(excepted_turn_speed, max_turn_speed)
self._actual_joystick_position += Coordinates(self._turn,
self._forward)
self.callback(self._actual_joystick_position)
def push_forward(self):
"""
This function allows to move joystick forward without using mouse.
:return: None
"""
excepted_forward_speed = self._forward - self._joystick_bottom_radius * self.boost
min_forward_speed = -self._joystick_bottom_radius * self._speed_limit
self._forward = max(excepted_forward_speed, min_forward_speed)
self._actual_joystick_position += Coordinates(self._turn,
self._forward)
self.callback(self._actual_joystick_position)
def push_backward(self):
"""
This function allows to move joystick backward without using mouse.
:return: None
"""
excepted_forward_speed = self._forward + self._joystick_bottom_radius * self.boost
max_forward_speed = self._joystick_bottom_radius * self._speed_limit
self._forward = min(excepted_forward_speed, max_forward_speed)
self._actual_joystick_position += Coordinates(self._turn,
self._forward)
self.callback(self._actual_joystick_position)
def start_moving(self):
"""
Start and stop moving functions:
-start_moving function increases number of currently pressed keys used to navigate car.
-stop_moving function decreases this number, and returns joystick to start position if there is no pressed key.
:return: None
"""
self._keys_pressed += 1
def stop_moving(self):
"""
Start and stop moving functions:
-start_moving function increases number of currently pressed keys used to navigate car.
-stop_moving function decreases this number, and returns joystick to start position if there is no pressed key.
:return: None
"""
self._keys_pressed -= 1
if self._keys_pressed == 0:
self._turn = 0
self._forward = 0
self.callback(self._start_joystick_position)
@property
def boost(self):
return self._boost
@boost.setter
def boost(self, value):
if value < 0:
self._boost = 0
elif value > 1:
self._boost = 1
else:
self._boost = value
@property
def speed_limit(self):
return self._speed_limit
@speed_limit.setter
def speed_limit(self, value):
if value < 0:
self._speed_limit = 0
elif value > 1:
self._speed_limit = 1
else:
self._speed_limit = value
def _update_start_position(self):
self._start_joystick_position = Coordinates(self.winfo_width() // 2,
self.winfo_height() // 2)