f"Auto-heading: {'On' if pioneer.motion.auto_heading_active else 'Off':>3}",
2,
4,
)
screen.print_at(f"Depth: {pioneer.depth} mm", 2, 6)
screen.print_at(f"Roll: {pioneer.pose['roll']:7.2f}°", 2, 8)
screen.print_at(f"Pitch: {pioneer.pose['pitch']:6.2f}°", 2, 9)
screen.print_at(f"Yaw: {pioneer.pose['yaw']:8.2f}°", 2, 10)
def state_printer(pioneer: Pioneer):
"""Draws a box and fills it with information from the drone"""
with ManagedScreen() as screen:
effects = [
Print(screen, Box(screen.width, 12, uni=screen.unicode_aware), 0,
0)
]
screen.set_scenes([Scene(effects)])
while True:
screen.draw_next_frame()
print_state(screen, pioneer)
screen.refresh()
sleep(0.2)
if __name__ == "__main__":
p = Pioneer(slaveModeEnabled=True)
state_printer(p)
def pioneer():
from blueye.sdk import Pioneer
return Pioneer()
def mocked_pioneer(mocked_clients):
from blueye.sdk import Pioneer
return Pioneer(autoConnect=False)
def mocked_slave_pioneer(mocked_clients):
from blueye.sdk import Pioneer
return Pioneer(autoConnect=False, slaveModeEnabled=True)
elif -upper < value < -lower:
return (value + lower) / (upper - lower)
else:
return 0
def handleLeftXAxis(self, value):
self.pioneer.motion.yaw = self.filterAndNormalize(value)
def handleLeftYAxis(self, value):
self.pioneer.motion.heave = self.filterAndNormalize(value)
def handleRightXAxis(self, value):
self.pioneer.motion.sway = self.filterAndNormalize(value)
def handleRightYAxis(self, value):
self.pioneer.motion.surge = -self.filterAndNormalize(value)
if __name__ == "__main__":
try:
p = Pioneer()
handler = JoystickHandler(p)
while True:
events = inputs.get_gamepad()
for event in events:
if event.code in handler.eventToFunctionMap:
handler.eventToFunctionMap[event.code](event.state)
except KeyboardInterrupt:
pass