async def read_gamepad_inputs():
global head_light_flag
print("Ready to drive!!")
turn_sound = SoundPlayer(
"/home/pi/xbox-raspberrypi-rover/soundfiles/turn-signal.mp3", card)
horn_sound = SoundPlayer(
"/home/pi/xbox-raspberrypi-rover/soundfiles/Horn.mp3", card)
while not is_connected():
time.sleep(2) # Wait 2 seconds for controller to come up and try again
while is_connected() and remote_control.button_b == False:
#print(" trigger_right = ", round(remote_control.trigger_right,2),end="\r")
x = round(remote_control.joystick_left_x, 2)
y = round(remote_control.joystick_left_y, 2)
angle = get_angle_from_coords(x, y)
if angle > 180:
angle = 360 - angle
#print("x:", x, " y:", y, " angle: ",angle,end="\r")
turn_head(angle)
direction = get_motor_direction(x, y)
y = adjust_speed(y, angle)
#print("x:", x, " y:", y, " direction: ",direction,end="\r")
drive_motor(direction, y)
if round(remote_control.trigger_right, 2) > 0.0:
horn_sound.play(1.0)
led.blue()
elif round(remote_control.trigger_left, 2) > 0.0:
led.cyan()
elif remote_control.bump_left:
turn_sound.play(1.0)
led.turn_left(5)
elif remote_control.bump_right:
turn_sound.play(1.0)
led.turn_right(5)
elif remote_control.dpad_up:
remote_control.dpad_up = False
elif remote_control.dpad_left:
remote_control.dpad_left = False
elif remote_control.dpad_right:
remote_control.dpad_right = False
elif remote_control.button_a:
remote_control.button_a = False
elif head_light_flag == False:
led.both_off()
led_strip.colorWipe(strip, Color(0, 0, 0))
if turn_sound.isPlaying():
turn_sound.stop()
await asyncio.sleep(100e-3) #100ms
return
def turn_right_led(): #Turn on the LED on the right
led.turn_right(4)
def turn_right_led():
'''Turn on the LED on the right'''
#TODO: fix names #??? why not just use that one line...
led.turn_right(4)
