def update(self):
# sdl2.SDL_PumpEvents() # Pump, retreive events so they clear
sdl2.SDL_JoystickUpdate()
# Read all the joystick values
axisScale = 1 / 2**15
self.axis = [
sdl2.SDL_JoystickGetAxis(self.joy, i)
for i in range(sdl2.SDL_JoystickNumAxes(self.joy))
]
self.button = [
sdl2.SDL_JoystickGetButton(self.joy, i)
for i in range(sdl2.SDL_JoystickNumButtons(self.joy))
]
self.roll = axisScale * self.axis[0]
self.pitch = axisScale * self.axis[1]
self.throttle = axisScale * self.axis[2]
self.yaw = axisScale * self.axis[3]
self.flap = 0.0
self.autoEngage = 2 * self.button[0] - 1 # "Soc-Engage-Switch"
self.testMode = axisScale * self.axis[4] # "Test-Mode-Switch"
self.testSel = axisScale * self.axis[5] # "Test-Select-Switch"
self.trig = 2 * self.button[1] - 1 # "Trigger-Switch"
self.thrSafe = 2 * self.button[2] - 1 # "Throttle-Safety-Switch"
self.baseSel = axisScale * self.axis[
-1] # "Baseline-Select-Switch" (On Windows it came up as 6, on Linux 7...)
def button(self, index=0):
state = SDL.SDL_JoystickGetButton(self.raw, index)
if state == False:
self._pressed[index] = False
return False
if state == True:
if self._pressed[index]:
return False
else:
self._pressed[index] = True
return True
def get_gamepad_state(gp):
# update joystick info
sdl2.SDL_PumpEvents()
gp_state = {}
for stick in gp['sticks']:
gp_state[stick] = scaled_stick_value(gp, gp['sticks'][stick]['id'], gp['sticks'][stick]['invert'])
for btn in gp['btns']:
gp_state[btn] = sdl2.SDL_JoystickGetButton(gp['gp_object'], gp['btns'][btn])
# This way a pressed button outputs a number equivalent
# to a fully bent stick
# print(gp_state)
return gp_state
def getJoystickState(self):
self.result = []
for i in range(self.numAxes):
self.axis = sdl2.SDL_JoystickGetAxis(self.joystick, i)
self.result.append(self.axis)
for i in range(self.numButtons):
self.button = sdl2.SDL_JoystickGetButton(self.joystick, i)
self.result.append(self.button)
self.result[0] = int(self.result[0] / SDL_AXIS_CONVERT) + 100
self.result[1] = -int(self.result[1] / SDL_AXIS_CONVERT) + 100
return self.result
def get_gamepad_state(gp):
# update joystick info
sdl2.SDL_PumpEvents()
gp_state = {}
for stick in gp['sticks']:
gp_state[stick] = scaled_stick_value(gp, gp['sticks'][stick]['id'], gp['sticks'][stick]['invert'])
for btn in gp['btns']:
gp_state[btn] = sdl2.SDL_JoystickGetButton(gp['gp_object'], gp['btns'][btn])
#this way a pressed button outputs a number equivalent to a fully bent stick
if OCULUS_ENABLED:
gp_state['look_h'] = int(Y_AXIS * 10) # scaled_stick_value(gp,2,stick_max=300),
gp_state['look_v'] = int(X_AXIS * -1.9) # scaled_stick_value(gp,3) * gp['invert_y'],
return gp_state
def run():
sdl2.ext.init()
sdl2.SDL_Init(sdl2.SDL_INIT_JOYSTICK)
window = sdl2.ext.Window("Controller test", size=(640, 480))
window.show()
running = True
if sdl2.joystick.SDL_NumJoysticks() < 1:
print("No joysticks plugged in")
return 0
joystick = sdl2.SDL_JoystickOpen(0)
print("Name:", sdl2.SDL_JoystickName(joystick))
print("NumAxes", sdl2.SDL_JoystickNumAxes(joystick))
print("Trackballs:", sdl2.SDL_JoystickNumBalls(joystick))
print("Buttons:", sdl2.SDL_JoystickNumButtons(joystick))
print("Hats:", sdl2.SDL_JoystickNumHats(joystick))
print("Haptic?:", sdl2.SDL_JoystickIsHaptic(joystick))
#sdl2.SDL_JoystickClose(joystick)
#return 0
while (running):
events = sdl2.ext.get_events()
for event in events:
if event.type == sdl2.SDL_JOYAXISMOTION:
print("=======================")
for axis in range(sdl2.SDL_JoystickNumAxes(joystick)):
print("Axis: %i, value: %i" %
(axis, sdl2.SDL_JoystickGetAxis(joystick, axis)))
if event.type == sdl2.SDL_JOYBUTTONDOWN:
print("=======================")
for button in range(sdl2.SDL_JoystickNumButtons(joystick)):
print(
"Button: %i, value: %i" %
(button, sdl2.SDL_JoystickGetButton(joystick, button)))
if event.type == sdl2.SDL_JOYHATMOTION:
print("=======================")
for hat in range(sdl2.SDL_JoystickNumHats(joystick)):
print("Hat: %i, value: %i" %
(hat, sdl2.SDL_JoystickGetHat(joystick, hat)))
if event.type == sdl2.SDL_QUIT:
running = False
break
window.refresh()
return 0
"Hats": hats,
"Obj": joy,
}
joysticks.append(joystick)
joysticksSorted = sorted(joysticks, key=lambda k: k["Win ID"])
# Resolve the Sticks (Press Left Trigger)
print "\n-- RESOLVING THE STICKS --"
testRunning = True
print " > Press the LEFT Trigger"
while testRunning:
for joystick in joysticksSorted:
if joystick["Name"] == "T.16000M":
sdl2.SDL_JoystickUpdate()
if sdl2.SDL_JoystickGetButton(joystick["Obj"], 0):
print " Left Stick has Win ID: " + str(joystick["Win ID"])
joystick["Res Name"] = "Left Stick"
for otherJoystick in joysticksSorted:
if otherJoystick["Name"] == "T.16000M" and otherJoystick[
"Res Name"] == None:
otherJoystick["Res Name"] = "Right Stick"
print " Right Stick has Win ID: " + str(
otherJoystick["Win ID"])
testRunning = False
# Label the Control Panel
print "\n-- RESOLVING CONTROL PANEL --"
for joystick in joysticksSorted:
if joystick["Name"] == "Arduino Leonardo":
print " Control Panel has Win ID: " + str(joystick["Win ID"])
def is_pressed(self):
return sdl2.SDL_JoystickGetButton(self._joystick, self._index) == 1
}
while True:
sdl2.SDL_JoystickUpdate()
# left axis
pro['la']['x'] = sdl2.SDL_JoystickGetAxis(js,0)
pro['la']['y'] = sdl2.SDL_JoystickGetAxis(js,1)
# right axis
pro['ra']['x'] = sdl2.SDL_JoystickGetAxis(js,2)
pro['ra']['y'] = sdl2.SDL_JoystickGetAxis(js,3)
# left trigger axis
# pro['lt2'] = sdl2.SDL_JoystickGetAxis(js,6)
pro['lt2'] = sdl2.SDL_JoystickGetButton(js,6)
# right trigger axis
# pro['rt2'] = sdl2.SDL_JoystickGetAxis(js,7)
pro['rt2'] = sdl2.SDL_JoystickGetButton(js,7)
# get buttons
pro['Y'] = sdl2.SDL_JoystickGetButton(js,0)
pro['B'] = sdl2.SDL_JoystickGetButton(js,1)
pro['A'] = sdl2.SDL_JoystickGetButton(js,2)
pro['X'] = sdl2.SDL_JoystickGetButton(js,3)
pro['lt1'] = sdl2.SDL_JoystickGetButton(js,4)
pro['rt1'] = sdl2.SDL_JoystickGetButton(js,5)
# use share button as a quit
quit = sdl2.SDL_JoystickGetButton(js,8)
return max(min(maxn, n), minn)
# Main loop
while True:
sdl2.SDL_PumpEvents()
# Read controller stick Y-inputs and normalize the value
# to a range of -100 to 100
joy_1 = -sdl2.SDL_JoystickGetAxis(joystick, 1) / 327.67
joy_3 = -sdl2.SDL_JoystickGetAxis(joystick, 3) / 327.67
m1 = clamp(joy_1,-100,100)
m2 = clamp(joy_3,-100,100)
# Check left/right triggers (10,11) for 3rd motor control
if sdl2.SDL_JoystickGetButton(joystick, 10): m0 = -30
elif sdl2.SDL_JoystickGetButton(joystick, 11): m0 = 30
else: m0 = 0
# Print values to console (mostly for debugging)
print('m0: %d' % m0)
print('m1: %d' % m1)
print('m2: %d' % m2)
# Build the list of three motor commands to send to NXT
cmds = []
cmds.append(SetOutputState(
0,
motor_on=True,
set_power=m0,
run_state=RunState.running,
def clamp(n, minn, maxn):
return max(min(maxn, n), minn)
while True:
sdl2.SDL_PumpEvents()
# read joystick input and normalise it to a range of -100 to 100
joy_x = (sdl2.SDL_JoystickGetAxis(joystick, 0) - 17268) / 172.68
joy_y = (sdl2.SDL_JoystickGetAxis(joystick, 1) - 17268) / 172.68
# use shoulder buttons on the game pad to make the omnibot rotate around it's axis.
turnpower = 0
if sdl2.SDL_JoystickGetButton(joystick, 5): turnpower = 75
if sdl2.SDL_JoystickGetButton(joystick, 4): turnpower = -75
# convert joystick x and y to a direction and power (deviation from the centre)
joy_direction = math.atan2(joy_y, joy_x) # in radians
joy_power = (joy_x**2 + joy_y**2)**0.5 # pythagoras
# building a list of three motor commands to send over
cmds = []
for i in range(3):
# for each motor the angle has a different offset (0, 120 and 240 degrees)
angle = i * 2 * 3.1415 / 3 + joy_direction
# motor power calculation. A simple sin.
motorpower = math.sin(angle) * joy_power + turnpower
def read(self, verbose=False):
js = self.js
dt = self.sleep
ps4 = Msg.Joystick()
twist = Msg.Twist()
try:
sdl2.SDL_JoystickUpdate()
# left axis
x = sdl2.SDL_JoystickGetAxis(js, 0) / 32768
y = sdl2.SDL_JoystickGetAxis(js, 1) / 32768
ps4.axes.leftStick = [x, y]
# right axis
x = sdl2.SDL_JoystickGetAxis(js, 2) / 32768
y = sdl2.SDL_JoystickGetAxis(js, 5) / 32768
ps4.axes.rightStick = [x, y]
# other axes
ps4.axes.L2 = sdl2.SDL_JoystickGetAxis(js, 3) / 32768
ps4.axes.R2 = sdl2.SDL_JoystickGetAxis(js, 4) / 32768
# accels
x = sdl2.SDL_JoystickGetAxis(js, 6) / 32768
y = sdl2.SDL_JoystickGetAxis(js, 7) / 32768
z = sdl2.SDL_JoystickGetAxis(js, 8) / 32768
ps4.axes.accels = [x, y, z]
# gyros
x = sdl2.SDL_JoystickGetAxis(js, 9) / 32768
y = sdl2.SDL_JoystickGetAxis(js, 10) / 32768
z = sdl2.SDL_JoystickGetAxis(js, 11) / 32768
ps4.axes.gyros = [x, y, z]
# get buttons
ps4.buttons.s = sdl2.SDL_JoystickGetButton(js, 0)
ps4.buttons.x = sdl2.SDL_JoystickGetButton(js, 1)
ps4.buttons.o = sdl2.SDL_JoystickGetButton(js, 2)
ps4.buttons.t = sdl2.SDL_JoystickGetButton(js, 3)
ps4.buttons.L1 = sdl2.SDL_JoystickGetButton(js, 4)
ps4.buttons.R1 = sdl2.SDL_JoystickGetButton(js, 5)
ps4.buttons.L2 = sdl2.SDL_JoystickGetButton(js, 6)
ps4.buttons.R2 = sdl2.SDL_JoystickGetButton(js, 7)
ps4.buttons.share = sdl2.SDL_JoystickGetButton(js, 8)
ps4.buttons.options = sdl2.SDL_JoystickGetButton(js, 9)
ps4.buttons.L3 = sdl2.SDL_JoystickGetButton(js, 10)
ps4.buttons.R3 = sdl2.SDL_JoystickGetButton(js, 11)
ps4.buttons.ps = sdl2.SDL_JoystickGetButton(js, 12)
ps4.buttons.pad = sdl2.SDL_JoystickGetButton(js, 13)
# get hat
# [up right down left] = [1 2 4 8]
ps4.buttons.hat = sdl2.SDL_JoystickGetHat(js, 0)
# print('b 12', sdl2.SDL_JoystickGetButton(js, 12))
# print('b 13', sdl2.SDL_JoystickGetButton(js, 13))
#self.pub.pub('js', ps4)
x, y = ps4.axes.rightStick
twist.linear.set(x, y, 0)
x, y = ps4.axes.leftStick
twist.angular.set(x, y, 0)
# verbose = True
if verbose:
print(twist)
if (self.old_twist.angular
== twist.angular) and (self.old_twist.linear
== twist.linear):
# print('js no msg')
pass
else:
self.pub.pub(self.topic, twist)
self.old_twist = twist
# print('js message sent')
time.sleep(dt)
except (IOError, EOFError):
print('[-] Connection gone .... bye')
def run(self, verbose, rate):
js = self.js
dt = 1.0/rate
ps4 = Msg.Joystick()
while True:
try:
sdl2.SDL_JoystickUpdate()
# left axis
x = sdl2.SDL_JoystickGetAxis(js, 0) / 32768
y = sdl2.SDL_JoystickGetAxis(js, 1) / 32768
ps4.axes.leftStick = [x, y]
# right axis
x = sdl2.SDL_JoystickGetAxis(js, 2) / 32768
y = sdl2.SDL_JoystickGetAxis(js, 5) / 32768
ps4.axes.rightStick = [x, y]
# other axes
ps4.axes.L2 = sdl2.SDL_JoystickGetAxis(js, 3) / 32768
ps4.axes.R2 = sdl2.SDL_JoystickGetAxis(js, 4) / 32768
# accels
x = sdl2.SDL_JoystickGetAxis(js, 6) / 32768
y = sdl2.SDL_JoystickGetAxis(js, 7) / 32768
z = sdl2.SDL_JoystickGetAxis(js, 8) / 32768
ps4.axes.accels = [x, y, z]
# gyros
x = sdl2.SDL_JoystickGetAxis(js, 9) / 32768
y = sdl2.SDL_JoystickGetAxis(js, 10) / 32768
z = sdl2.SDL_JoystickGetAxis(js, 11) / 32768
ps4.axes.gyros = [x, y, z]
# get buttons
ps4.buttons.s = sdl2.SDL_JoystickGetButton(js, 0)
ps4.buttons.x = sdl2.SDL_JoystickGetButton(js, 1)
ps4.buttons.o = sdl2.SDL_JoystickGetButton(js, 2)
ps4.buttons.t = sdl2.SDL_JoystickGetButton(js, 3)
ps4.buttons.L1 = sdl2.SDL_JoystickGetButton(js, 4)
ps4.buttons.R1 = sdl2.SDL_JoystickGetButton(js, 5)
ps4.buttons.L2 = sdl2.SDL_JoystickGetButton(js, 6)
ps4.buttons.R2 = sdl2.SDL_JoystickGetButton(js, 7)
ps4.buttons.share = sdl2.SDL_JoystickGetButton(js, 8)
ps4.buttons.options = sdl2.SDL_JoystickGetButton(js, 9)
ps4.buttons.L3 = sdl2.SDL_JoystickGetButton(js, 10)
ps4.buttons.R3 = sdl2.SDL_JoystickGetButton(js, 11)
ps4.buttons.ps = sdl2.SDL_JoystickGetButton(js, 12)
ps4.buttons.pad = sdl2.SDL_JoystickGetButton(js, 13)
# get hat
# [up right down left] = [1 2 4 8]
ps4.buttons.hat = sdl2.SDL_JoystickGetHat(js, 0)
# print('b 12', sdl2.SDL_JoystickGetButton(js, 12))
# print('b 13', sdl2.SDL_JoystickGetButton(js, 13))
if verbose: print(Msg.Joystick.screen(ps4))
self.pub.pub('js', ps4)
time.sleep(dt)
except (IOError, EOFError):
print('[-] Connection gone .... bye')
break
# except Exception as e:
# print('Ooops:', e)
# else:
# raise Exception('Joystick: Something bad happened!')
# clean-up
sdl2.SDL_JoystickClose(js)
print('Bye ...')
import sdl2
sdl2.SDL_Init(sdl2.SDL_INIT_JOYSTICK)
joystick = sdl2.SDL_JoystickOpen(0)
joystick2 = sdl2.SDL_JoystickOpen(1)
player = {
'gamepad': joystick2,
'stick_range': 65536, # max stick position - min stick position
'stick_center': 0,
'left_shoulder_btn': 8,
'right_shoulder_btn': 9
}
while True:
sdl2.SDL_PumpEvents()
btns = {}
for i in range(15):
btns[i] = sdl2.SDL_JoystickGetButton(joystick2, i)
joy_x = (sdl2.SDL_JoystickGetAxis(player['gamepad'], 0) -
player['stick_center']) * 200 / player['stick_range']
print(joy_x, (sdl2.SDL_JoystickGetAxis(joystick2, 0) - 0) * 200 / 65000,
sdl2.SDL_JoystickGetAxis(joystick2, 1), btns)
if sdl2.SDL_JoystickGetButton(player['gamepad'],
player['left_shoulder_btn']):
break
running = 1
while running:
sdl2.SDL_PumpEvents()
for player in players:
# read joystick input and normalise it to a range of -100 to 100
joy_x = (sdl2.SDL_JoystickGetAxis(player['gamepad'], 0) -
player['stick_center']) * 200 / player['stick_range']
joy_y = (sdl2.SDL_JoystickGetAxis(player['gamepad'], 1) -
player['stick_center']
) * 200 / player['stick_range'] * player['invert_y']
# use shoulder buttons on the game pad to make the omnibot rotate around it's axis.
turnpower = 0
if sdl2.SDL_JoystickGetButton(player['gamepad'],
player['right_shoulder_btn']):
turnpower = 75
if sdl2.SDL_JoystickGetButton(player['gamepad'],
player['left_shoulder_btn']):
turnpower = -75
# end the fun if button 1 is pressed.
if sdl2.SDL_JoystickGetButton(player['gamepad'], player['abort_btn']):
print 'stopping'
running = 0
btns = {}
for i in range(15):
btns[i] = sdl2.SDL_JoystickGetButton(player['gamepad'], i)
# print(joy_x, joy_y, turnpower, btns)
isMoving = False
sdl2.SDL_Init(sdl2.SDL_INIT_TIMER | sdl2.SDL_INIT_JOYSTICK
| sdl2.SDL_INIT_HAPTIC)
joystick = sdl2.SDL_JoystickOpen(0)
haptic = sdl2.SDL_HapticOpen(0)
print("wheel - succesfully opened")
efx = sdl2.SDL_HapticEffect(type=sdl2.SDL_HAPTIC_CONSTANT, constant= \
sdl2.SDL_HapticConstant(type=sdl2.SDL_HAPTIC_CONSTANT, direction= \
sdl2.SDL_HapticDirection(type=sdl2.SDL_HAPTIC_CARTESIAN, dir=(0, 0, 0)), \
length=sdl2.SDL_HAPTIC_INFINITY, level=0, attack_length=0, fade_length=0))
effect_id = sdl2.SDL_HapticNewEffect(haptic, efx)
sdl2.SDL_HapticRunEffect(haptic, effect_id, 1)
sdl2.SDL_HapticSetAutocenter(haptic, 0)
sdl2.SDL_HapticSetGain(haptic, 100)
# Wykrywanie początkowego biegu:
if sdl2.SDL_JoystickGetButton(joystick, 14) == 1:
gear = -1
elif sdl2.SDL_JoystickGetButton(joystick, 15) == 1:
gear = 1
else:
gear = 0
# capture = cv2.VideoCapture('http://192.168.0.11:8080/video')
capture = cv2.VideoCapture('http://192.168.0.11:4747/video')
# capture = WebcamVideoStream(src='http://192.168.0.11:4747/video').start()
on_board_camera = True
# mo_cap = cv2.VideoCapture('http://192.168.0.3:4747/video')
mo_cap = cv2.VideoCapture(0)
motion_capture = True
def get(self):
if not self.valid:
return None
js = self.js
sdl2.SDL_JoystickUpdate()
share = sdl2.SDL_JoystickGetButton(js, 8)
if share:
exit(0)
ls = Axis(sdl2.SDL_JoystickGetAxis(js, 0),
sdl2.SDL_JoystickGetAxis(js, 1))
rs = Axis(sdl2.SDL_JoystickGetAxis(js, 2),
sdl2.SDL_JoystickGetAxis(js, 5))
triggers = Trigger(sdl2.SDL_JoystickGetAxis(js, 3),
sdl2.SDL_JoystickGetAxis(js, 4))
shoulder = [
sdl2.SDL_JoystickGetButton(js, 4),
sdl2.SDL_JoystickGetButton(js, 5)
]
stick = [
sdl2.SDL_JoystickGetButton(js, 10),
sdl2.SDL_JoystickGetButton(js, 11)
]
# I seem to have lost sensors
# a = Sensors(
# sdl2.SDL_JoystickGetAxis(js, 6),
# sdl2.SDL_JoystickGetAxis(js, 7),
# sdl2.SDL_JoystickGetAxis(js, 8)
# )
#
# g = Sensors(
# sdl2.SDL_JoystickGetAxis(js, 9),
# sdl2.SDL_JoystickGetAxis(js, 10),
# sdl2.SDL_JoystickGetAxis(js, 11)
# )
b = [
sdl2.SDL_JoystickGetButton(js, 0), # square
sdl2.SDL_JoystickGetButton(js, 3), # triangle
sdl2.SDL_JoystickGetButton(js, 2), # circle
sdl2.SDL_JoystickGetButton(js, 1) # x
]
hat = sdl2.SDL_JoystickGetHat(js, 0)
share = sdl2.SDL_JoystickGetButton(js, 8)
options = sdl2.SDL_JoystickGetButton(js, 9)
ps4 = PS4(ls, rs, triggers, hat, shoulder, stick, b, options, share)
# left axis
# x = sdl2.SDL_JoystickGetAxis(js, 0) / 32768
# y = sdl2.SDL_JoystickGetAxis(js, 1) / 32768
# ps4['leftStick'] = [x, y]
#
# # right axis
# x = sdl2.SDL_JoystickGetAxis(js, 2) / 32768
# y = sdl2.SDL_JoystickGetAxis(js, 5) / 32768
# ps4['rightStick'] = [x, y]
# # other axes
# ps4.axes.L2 = sdl2.SDL_JoystickGetAxis(js, 3) / 32768
# ps4.axes.R2 = sdl2.SDL_JoystickGetAxis(js, 4) / 32768
#
# # accels
# x = sdl2.SDL_JoystickGetAxis(js, 6) / 32768
# y = sdl2.SDL_JoystickGetAxis(js, 7) / 32768
# z = sdl2.SDL_JoystickGetAxis(js, 8) / 32768
# ps4.axes.accels = [x, y, z]
#
# # gyros
# x = sdl2.SDL_JoystickGetAxis(js, 9) / 32768
# y = sdl2.SDL_JoystickGetAxis(js, 10) / 32768
# z = sdl2.SDL_JoystickGetAxis(js, 11) / 32768
# ps4.axes.gyros = [x, y, z]
#
# # get buttons
# ps4.buttons.s = sdl2.SDL_JoystickGetButton(js, 0)
# ps4.buttons.x = sdl2.SDL_JoystickGetButton(js, 1)
# ps4.buttons.o = sdl2.SDL_JoystickGetButton(js, 2)
# ps4.buttons.t = sdl2.SDL_JoystickGetButton(js, 3)
# ps4.buttons.L1 = sdl2.SDL_JoystickGetButton(js, 4)
# ps4.buttons.R1 = sdl2.SDL_JoystickGetButton(js, 5)
# ps4.buttons.L2 = sdl2.SDL_JoystickGetButton(js, 6)
# ps4.buttons.R2 = sdl2.SDL_JoystickGetButton(js, 7)
# ps4.buttons.share = sdl2.SDL_JoystickGetButton(js, 8)
# ps4.buttons.options = sdl2.SDL_JoystickGetButton(js, 9)
# ps4.buttons.L3 = sdl2.SDL_JoystickGetButton(js, 10)
# ps4.buttons.R3 = sdl2.SDL_JoystickGetButton(js, 11)
# ps4.buttons.ps = sdl2.SDL_JoystickGetButton(js, 12)
# ps4.buttons.pad = sdl2.SDL_JoystickGetButton(js, 13)
#
# # get hat
# # [up right down left] = [1 2 4 8]
# ps4.buttons.hat = sdl2.SDL_JoystickGetHat(js, 0)
# print('b 12', sdl2.SDL_JoystickGetButton(js, 12))
# print('b 13', sdl2.SDL_JoystickGetButton(js, 13))
return ps4
def get(self):
if not self.valid:
return None
js = self.js
sdl2.SDL_JoystickUpdate()
ls = Axis(sdl2.SDL_JoystickGetAxis(js, 0),
sdl2.SDL_JoystickGetAxis(js, 1))
rs = Axis(
sdl2.SDL_JoystickGetAxis(js, 3), # 2
sdl2.SDL_JoystickGetAxis(js, 4) # 5
)
triggers = Trigger(
sdl2.SDL_JoystickGetAxis(js, 2), # 3
sdl2.SDL_JoystickGetAxis(js, 5) # 4
)
# shoulder = [
# sdl2.SDL_JoystickGetButton(js, 4),
# sdl2.SDL_JoystickGetButton(js, 5)
# ]
# stick = [
# sdl2.SDL_JoystickGetButton(js, 10),
# sdl2.SDL_JoystickGetButton(js, 11)
# ]
b = (
sdl2.SDL_JoystickGetButton(js, 0), # square
sdl2.SDL_JoystickGetButton(js, 3), # triangle
sdl2.SDL_JoystickGetButton(js, 2), # circle
sdl2.SDL_JoystickGetButton(js, 1) # x
)
# print("6", sdl2.SDL_JoystickGetButton(js, 6)) # left trigger T/F
# print("7", sdl2.SDL_JoystickGetButton(js, 7)) # right trigger T/F
# for n in [10,11,12]:
# print(n, sdl2.SDL_JoystickGetButton(js, n))
#
# b_triggers = (
# sdl2.SDL_JoystickGetButton(js, 6)),
# sdl2.SDL_JoystickGetButton(js, 7)),
# )
ps = sdl2.SDL_JoystickGetButton(js, 10)
lb = (
sdl2.SDL_JoystickGetButton(js, 4), # L1
sdl2.SDL_JoystickGetButton(js, 6), # L2
sdl2.SDL_JoystickGetButton(js, 11) # L3
)
rb = (
sdl2.SDL_JoystickGetButton(js, 5), # R1
sdl2.SDL_JoystickGetButton(js, 7), # R2
sdl2.SDL_JoystickGetButton(js, 12) # R3
)
hat = sdl2.SDL_JoystickGetHat(js, 0)
share = sdl2.SDL_JoystickGetButton(js, 8)
option = sdl2.SDL_JoystickGetButton(js, 9)
# 'leftStick rightStick triggers leftButtons rightButtons hat buttons option share ps'
ps4 = PS4(ls, rs, triggers, lb, rb, hat, b, option, share, ps)
return ps4
self.joysticks = []
for i in range(0, sdl2.SDL_NumJoySticks()):
joy = sdl2.SDL_JoystickOpen(i)
self.joysticks.append(joy)
print("joystick initialized")
"""
joy = sdl2.SDL_JoystickOpen(0)
while True:
sdl2.SDL_PumpEvents()
data = []
for i in range(0, 6):
data.append(int(sdl2.SDL_JoystickGetAxis(joy, i)))
for i in range(0, 11):
data.append(int(sdl2.SDL_JoystickGetButton(joy, i)))
data.append(int(sdl2.SDL_JoystickGetHat(joy, 0)))
msg = json.dumps(data)
jsnode.send("inputs-out", msg)
time.sleep(0.05)
print(data)
# Data array format:
## 16 bit signed ints:
# 0 | right joystick x
# 1 | right joystick y
# 2 | right trigger
# 3 | left joystick x
# 4 | left joystick y
# 5 | left trigger
## 1 bit (0 = unpressed, 1 = pressed)
