def event(self, event):
if self.confirmation:
if event.type == pygame.KEYDOWN:
if event.key == pygame.K_LEFT:
self.confirmed = (self.confirmed - 1) % 2
elif event.key == pygame.K_RIGHT:
self.confirmed = (self.confirmed + 1) % 2
if event.key == pygame.K_SPACE or event.key == pygame.K_RETURN:
if self.confirmed:
globes.Globals.HIGHSCORES.clear_file()
self.confirmation = False
else:
self.confirmation = False
else:
if event.type == pygame.KEYDOWN and event.key == pygame.K_ESCAPE:
globes.Globals.STATE = menu.Menu(True)
if event.type == pygame.KEYDOWN and event.key == pygame.K_UP:
self.option = (self.option - 1) % 4
if event.type == pygame.KEYDOWN and event.key == pygame.K_DOWN:
self.option = (self.option + 1) % 4
if event.type == pygame.KEYDOWN and \
(event.key == pygame.K_SPACE or
event.key == pygame.K_RETURN):
if self.option == 0:
self.confirmation = True
elif self.option == 1:
globes.Globals.STATE = joystick.Joystick()
elif self.option == 2:
globes.Globals.STATE = volume.Volume(True)
if self.option == 3:
globes.Globals.STATE = menu.Menu(True)
def main():
rospy.init_node('simulate_dynamics')
dt = 0.05
Hz = int(1 / dt)
stateDim = 7
inputDim = 2
joy = joystick.Joystick()
sim = SimulateStep(stateDim, inputDim, dt)
sim.namespace = rospy.get_namespace()
# sim.imageLoad('/home/sw/catkin_ws/src/autorally/autorally_control/src/path_integral/params/maps/kaist_costmap/waypoint_image3.png')
clock = pygame.time.Clock()
r = rospy.Rate(Hz)
while not rospy.is_shutdown():
joy.get_value()
inputs = np.array([joy.axis[3], -joy.axis[1]])
sim.toggle = joy.toggle
sim.one_step_forward(inputs)
# clock.tick(Hz)
# sim.render2D()
for event in pygame.event.get():
if event.type == QUIT:
pygame.quit()
sys.exit()
r.sleep()
def main():
drone = tello.Tello('', 8889)
controller = joystick.Joystick()
vplayer = TelloUI(drone, controller, "./img/")
# start the Tkinter mainloop
vplayer.root.mainloop()
def getJoystick(self, id):
"""Get a joystick object.
A dummy joystick object is returned if there is no joystick
with the specified id.
"""
if id in self._joysticks:
return self._joysticks[id]
else:
return joystick.Joystick(id=id, name="Dummy-Joystick")
def create(self):
self._joystick = joystick.Joystick()
created = self._joystick.create()
if not created:
return False
self._joystick.start()
return True
def from_remote_nunchuk(raw_x, raw_y, raw_z, raw_c, recv_time):
joy_x, joy_y = _scale_joystick_xy(int(raw_x), int(raw_y))
magnitude, angle = _get_joystick_vector(joy_x, joy_y)
button_z = False
if raw_z == '1':
button_z = True
button_c = False
if raw_c == '1':
button_c = True
return joystick.Joystick(magnitude=magnitude,
angle=angle,
button_z=button_z,
button_c=button_c,
recv_time=recv_time)
def main():
GPIO.setmode(GPIO.BCM)
FREQ = 50
PULSE_MIN = 100 * 0.001 / (1.0 / FREQ) # 1ms as a % of period
PULSE_MAX = 100 * 0.002 / (1.0 / FREQ) # 2ms as a % of period
def signed_to_duty(v):
assert -1.0 <= v and v <= 1.0
return PULSE_MIN + (PULSE_MAX - PULSE_MIN) * (v + 1.0) / 2.0
def pwm_pin(pin, init_val=0.0):
GPIO.setup(pin, GPIO.OUT)
rv = GPIO.PWM(pin, FREQ)
rv.start(signed_to_duty(init_val))
return rv
# - Configure pins
pin_throttle = pwm_pin(18)
pin_steer = pwm_pin(17)
pin_mode = pwm_pin(23)
# Open the joystick and watch for updates
js = joystick.Joystick('/dev/input/js0')
for u in js.peek_updates():
if u.name == "x":
pass
elif u.name == "y":
pass
elif u.name == "z":
new_duty = signed_to_duty(u.value)
print "STEER: %.2f \r" % (new_duty,), ; sys.stdout.flush()
pin_steer.ChangeDutyCycle( new_duty )
elif u.name == "rz":
new_duty = signed_to_duty(-u.value)
print "THROTTLE: %.2f \r" % (new_duty,), ; sys.stdout.flush()
pin_throttle.ChangeDutyCycle( new_duty )
pass
else:
print u
continue
pass
def setup(self):
self.map = self.world.get_map()
pygame.init()
self.size = self.map.get_size().get_pygame().size
self.screen = pygame.display.set_mode(self.size)
self.font = pygame.font.Font(None, 20)
if pygame.joystick.get_count() == 0:
print "No joystick! Aborting...."
sys.exit(0)
else:
print 'Number of Joysticks:', pygame.joystick.get_count()
# Callback dictionary for joystick event handling.
joystick_callbacks = {
'direction' : self.world.get_sight(0).accelerate,
'shoot' : self.world.get_sight(0).shoot }
self.joystick = joystick.Joystick(joystick_callbacks)
#!/usr/bin/env python3
# -*- coding: utf-8 -*-
import time
import joystick
J = joystick.Joystick()
J.open("/dev/input/js0")
print(J)
time.sleep(2)
J.start()
J.onButtonClick('trigger', lambda x: print('trigger', x))
J.onButtonClick('thumb', lambda x: print('thumb', x))
J.onButtonClick("thumb2", lambda x: print("thumb2", x))
J.onButtonClick("top", lambda x: print("top", x))
J.onButtonClick("top2", lambda x: print("top2", x))
while True:
print(J.axis['z'])
time.sleep(0.05)
def __init__(self, root, queue, endCommand):
self.queue = queue
# Set up the GUI
self.j = joystick.Joystick(parent=root)
def __init__(self, parent, config, enable_mqtt=True):
tk.Frame.__init__(self, parent)
self.config = config
# Setup the Comm and Joysticks
self.setup_mqtt(enable_mqtt)
self.bot_status0 = self.bot_status1 = ("", 0
) # Last two bot status msg
# Get joystick devices
self.joysticks = []
if self.config.number_of_joysticks < 1 or self.config.number_of_joysticks > 2:
print("Invalid number of joysticks (%d). Only 1 or 2 allowed." %
self.config.number_of_joysticks)
print("Please fix configuration file.")
sys.exit()
if self.config.joystick_port_1 == "Logitech":
self.joysticks.append(joystick.Joystick(LOGITECH, 0))
elif self.config.joystick_port_1 == "XBox":
self.joysticks.append(joystick.Joystick(XBOX, 0))
else:
print(
"Invalid joystick on port 1 (%s). Valid joysticks are: Logitech or XBox."
% self.config.joystick_port_1)
print("Please fix configuration file.")
sys.exit()
if self.config.number_of_joysticks == 2:
if self.config.joystick_port_2 == "Logitech":
instance = 0
if self.config.joystick_port_1 == "Logitech": instance = 1
self.joysticks.append(joystick.Joystick(LOGITECH, instance))
elif self.config.joystick_port_2 == "XBox":
instance = 0
if self.config.joystick_port_1 == "XBox": instance = 1
self.joysticks.append(joystick.Joystick(XBOX, instance))
else:
print(
"Invalid joystick on port 2 (%s). Valid joysticks are: Logitech or XBox."
% self.config.joystick_port_2)
print("Please fix configuration file.")
sys.exit()
# Setup runtime variables...
self.ping_setup()
self.last_cmd_send_time = time.monotonic() - 100.0
self.last_arduino_status = time.monotonic() - 100.0
self.last_arduino_ui_update = time.monotonic() - 100.0
self.arduino_data = None
self.arduino_reset_flag = False
self.run_loop_cnt = 0
self.quitbackgroundtasks = False
self.bg_count = 0
self.last_btns = [[], []]
self.last_axes = [[], []]
self.last_pov = [(0, 0), (0, 0)]
# Setup the GUI...
self.titlefont = tkFont.Font(family="Copperplate Gothic Bold", size=24)
self.namefont = tkFont.Font(family="Copperplate Gothic Light", size=20)
self.titlelabel = tk.Label(self,
text=self.config.title,
anchor="center",
font=self.titlefont)
self.namelabel = tk.Label(self,
text=self.config.teamname,
anchor="center",
font=self.namefont)
self.hwstatus = hardwarestatuswidget.HardwareStatusWidget(self)
self.gameclock = gameclockwidget.GameClockWidget(self)
self.commstatus = commstatuswidget.CommStatusWidget(self)
self.botstatus = botstatuswidget.BotStatusWidget(
self, reset_callback=self.do_arduino_reset)
self.arduinostatus = arduinostatuswidget.ArduinoStatusWidget(self)
self.joystick_widgets = []
for joy in self.joysticks:
if joy.get_name() == LOGITECH:
self.joystick_widgets.append(
joystick_logitech.JoystickWidget(self))
elif joy.get_name() == XBOX:
self.joystick_widgets.append(
joystick_xbox.JoystickWidget(self))
else:
print(
"Unknown joystick detected. Defaulting to Logitech widget."
)
self.joystick_widgets.append(
joystick_logitech.JoystickWidget(self))
if len(self.joystick_widgets) < 1:
raise ("Internal Consistancy Check Error. Programming Problem.")
if self.config.number_of_joysticks == 1:
self.layout_for_one_joystick()
elif self.config.number_of_joysticks == 2:
self.layout_for_two_joysticks()
else:
print("Invalid Number of Joysticks! Fix configuration file.")
sys.exit()
self.set_mqtt_fields_off()
import joystick
import vulcan
import eventprocessor
import logging
import argparse
import sys
def main(processor):
processor.run()
if __name__ == "__main__":
parser = argparse.ArgumentParser(
description="Control program for Nerf Vulcan")
parser.add_argument("--vulcan",
default="/dev/ttyACM0",
help="Path to vulcan ardiuno")
parser.add_argument("--joystick",
default="/dev/input/js0",
help="Path to joystick")
args = parser.parse_args()
new_vulcan = vulcan.Vulcan(args.vulcan)
new_joystick = joystick.Joystick(args.joystick)
processor = eventprocessor.EventProcessor(new_joystick, new_vulcan)
main(processor)
__author__ = 'zackory'
import time
import servo
import joystick
joy = joystick.Joystick(0)
servo1 = servo.Servo(17)
servo2 = servo.Servo(18)
servo3 = servo.Servo(22)
servo4 = servo.Servo(23)
mastServo = servo.Servo(24, 300)
done = False
while not done:
joy.processEvents()
done = joy.get(joy.RBumper)
# Update servo speed based on joystick
LThumbY = joy.get(joy.LThumbY)
if LThumbY <= -0.1 or LThumbY >= 0.1:
# Update head position by moving center mast
mastServo.setPosition(LThumbY)
else:
mastServo.setPosition(0)
RThumbX = joy.get(joy.RThumbX)
RThumbY = joy.get(joy.RThumbY)
if RThumbX <= -0.1 or RThumbX >= 0.1:
serial = [i2c(port=1, address=0x3C), i2c(port=1, address=0x3D)]
try:
pad_display = pad_display.PadDisplay(ssd1306(serial[1]))
except DeviceNotFoundError:
pad_display = pad_display.PadDisplay(None)
pad_handler = pad_handler.PadHandler(display=pad_display)
try:
status_display = statusdisplay.StatusDisplay(ssd1306(serial[0]))
except DeviceNotFoundError:
status_display = statusdisplay.StatusDisplay(None)
pygame.init()
joystick = joystick.Joystick(bHandler, pad_handler)
joystick.init()
while True:
s = wait_for_server()
print("Connected to camera controller")
stop_all_axis(s)
# configure axis acceleration -> 0 - 100 per axis
s.sendall(bytearray([0x01, 0xB0, 70, 40]))
# TODO: add mechanism to support multiple cams
cam = statusdisplay.CameraInfo(1)
status_display.update(cam, joystick.max_speed)
pad_handler.startup()
import serial
import threading
import numpy as np
from rx import Observable
from rx.subjects import Subject
from rx.concurrency import NewThreadScheduler
FEEDRATE = 400 # mm / minute
MAX_REACH = 0.2 # mm / feedrate
MIN_NORM = 0.2
device_fn = sys.argv[1] if len(
sys.argv) > 1 else joystick.Joystick.available_sticks()[0]
print("Using input device: {0}".format(device_fn))
in_stick = joystick.Joystick(device_fn)
tty = serial.Serial('/dev/ttyUSB0', 250000)
def send_gcode(s):
tty.flushInput()
tty.write(s + b'\n')
return tty.readline().strip()
def poll_joystick(_):
poll_result = in_stick.poll()
x, y = None, None
if poll_result.changed_axis is not None:
axis = poll_result.changed_axis
if axis.number == 0:
