def _update(self):
state = sixaxis.get_state()
# Buttons
self._gamepad.buttons["square"] = state["square"]
self._gamepad.buttons["cross"] = state["cross"]
self._gamepad.buttons["circle"] = state["circle"]
self._gamepad.buttons["triangle"] = state["triangle"]
self._gamepad.buttons["R1"] = state["R1"]
self._gamepad.buttons["L1"] = state["L1"]
self._gamepad.buttons["R2"] = state["R2"]
self._gamepad.buttons["L2"] = state["L2"]
self._gamepad.buttons["select"] = state["select"]
self._gamepad.buttons["start"] = state["start"]
self._gamepad.buttons["ps3"] = state["PS3"]
self._gamepad.buttons["left"] = state["bottomleft"]
self._gamepad.buttons["right"] = state["bottomright"]
self._gamepad.buttons["up"] = state["bottomup"]
self._gamepad.buttons["down"] = state["bottomdown"]
# Axis
self._gamepad.axisLeft_X = state["leftx"]
self._gamepad.axisLeft_Y = state["lefty"]
self._gamepad.axisRight_X = state["rightx"]
self._gamepad.axisRight_Y = state["righty"]
def _update(self):
state = sixaxis.get_state()
# Buttons
self._gamepad.buttons["square"] = state["square"]
self._gamepad.buttons["cross"] = state["cross"]
self._gamepad.buttons["circle"] = state["circle"]
self._gamepad.buttons["triangle"] = state["triangle"]
self._gamepad.buttons["R1"] = state["R1"]
self._gamepad.buttons["L1"] = state["L1"]
self._gamepad.buttons["R2"] = state["R2"]
self._gamepad.buttons["L2"] = state["L2"]
self._gamepad.buttons["select"] = state["select"]
self._gamepad.buttons["start"] = state["start"]
self._gamepad.buttons["ps3"] = state["PS3"]
self._gamepad.buttons["left"] = state["bottomleft"]
self._gamepad.buttons["right"] = state["bottomright"]
self._gamepad.buttons["up"] = state["bottomup"]
self._gamepad.buttons["down"] = state["bottomdown"]
# Axis
self._gamepad.axisLeft_X = state["leftx"]
self._gamepad.axisLeft_Y = state["lefty"]
self._gamepad.axisRight_X = state["rightx"]
self._gamepad.axisRight_Y = state["righty"]
def getInput(self): state = sixaxis.get_state() self.motor_speeds[0] = int(state['lefty'] ) self.motor_speeds[1] = int(state['righty'] ) self.motor_speeds[2] = int(state['trig2'] ) print self.motor_speeds sleep(0.1)
# Spins at a certain percent of full speed.
def spinAtPcSpeed(ID,pcSpeed):
if pcSpeed >= 0:
spinAtDxSpeed(ID,int(float(pcSpeed)*10.23))
else:
spinAtDxSpeed(ID,1024+int(float(-pcSpeed)*10.23))
def throttleSteeringToLeftRight(inThrottle, inSteering):
left = min(100, max(-100, inThrottle - inSteering));
right = min(100, max(-100, inThrottle + inSteering));
return (left, right)
# Purge the first value
joystate = sixaxis.get_state()
time.sleep(0.5)
print("Press [triangle] to exit.")
shoulderPos = 225
tiltPos = 220
panPos = 0
clawPos = 800
# Set wheel and joint modes.
writeWord(1, DXL_REG_CCW_Angle_Limit, 0)
writeWord(2, DXL_REG_CCW_Angle_Limit, 0)
writeWord(3, DXL_REG_CCW_Angle_Limit, 0)
writeWord(4, DXL_REG_CCW_Angle_Limit, 0)
jointMode(5)
gaugeSocket = bluetooth.BluetoothSocket(bluetooth.RFCOMM)
#Write your MAC address
gaugeSocket.connect(('XX:XX:XX:XX:XX:XX', 1))
break
except bluetooth.btcommon.BluetoothError as error:
gaugeSocket.close()
print "Connection failed ", error, "; Retry in 5s..."
time.sleep(5)
return gaugeSocket
gaugeSocket = connect()
while (True):
time.sleep(0.05)
data = sixaxis.get_state()
print data
try:
gaugeSocket.send(str(int(data[0], 16)))
gaugeSocket.send(str(int(data[1], 16)))
gaugeSocket.send(str(int(data[2], 16)))
gaugeSocket.send(str(int(data[3], 16)))
#print gaugeSocket.recv(1)
except bluetooth.btcommon.BluetoothError as error:
print "Caught Bluetooth Error: ", error
time.sleep(5)
gaugeSocket = connect()
pass
gaugeSocket.close()
try:
gaugeSocket = bluetooth.BluetoothSocket(bluetooth.RFCOMM)
#Write your MAC address
gaugeSocket.connect(('XX:XX:XX:XX:XX:XX', 1))
break;
except bluetooth.btcommon.BluetoothError as error:
gaugeSocket.close()
print "Connection failed ", error, "; Retry in 5s..."
time.sleep(5)
return gaugeSocket;
gaugeSocket = connect()
while(True):
time.sleep(0.05)
data = sixaxis.get_state()
print data
try:
gaugeSocket.send(str(int(data[0], 16)))
gaugeSocket.send(str(int(data[1], 16)))
gaugeSocket.send(str(int(data[2], 16)))
gaugeSocket.send(str(int(data[3], 16)))
#print gaugeSocket.recv(1)
except bluetooth.btcommon.BluetoothError as error:
print "Caught Bluetooth Error: ", error
time.sleep(5)
gaugeSocket = connect()
pass
gaugeSocket.close()
#! /usr/bin/env python
import sixaxis
import pprint
sixaxis.init("/dev/input/js1")
pp = pprint.PrettyPrinter(indent=4)
while (1):
state = sixaxis.get_state()
if (state['triangle'] == True):
break
pp.pprint(state)
