def run(self):
global running
button_threshold = -0.5
# Get input from the two analog sticks as yaw, throttle, roll, and pitch. Take the (0 - 255) input value and
# map it to a (-1 - 1) range
controller = Controller (["du", "dd", "start", "L1", "R1", "L2", "R2", "select"], ["speedUp", "speedDown", "launch", "lateralLeft", "lateralRight", "lateralLeftFast", "lateralRightFast", "allStop"], (0, 255), (-1, 1))
#controller = Controller (["X1", "Y1", "X2", "Y2"])
print "wating for controller to init"
while(controller.get_values() == {}):
sleep(.1)
print "done"
print "running!"
while True:
control_packet = controller.get_values()
if(control_packet == {}):
print "dropped control signal: all"
try:
if (control_packet["speedUp"] > button_threshold):
print "Speeding up the motors"
if (control_packet["speedDown"] > button_threshold):
print "Slowing down the motors"
if (control_packet["launch"] > -1):
print "Firing!!"
if (control_packet["lateralLeft"] > button_threshold):
print "Moving left slowly"
if (control_packet["lateralRight"] > button_threshold):
print "Moving right slowly"
if (control_packet["lateralLeftFast"] > button_threshold):
print "Moving left quickly"
if (control_packet["lateralRightFast"] > button_threshold):
print "Moving right quickly"
if (control_packet["allStop"] > button_threshold):
print "Stopping!!!!!"
except KeyError, e:
print "dropped control signal: ", e
sleep (.01)
def run(self):
global running
button_threshold = -0.5
# Get input from the two analog sticks as yaw, throttle, roll, and pitch. Take the (0 - 255) input value and
# map it to a (-1 - 1) range.
controller = Controller (["X2", "Y2", "X1", "Y1", "L2", "R2", "X", "/\\", "[]", "select"], ["yaw", "throttle", "roll", "pitch", "descend", "ascend", "takeover", "takeoff", "land", "kill"], (0, 255), (-1, 1))
#controller = Controller (["X1", "Y1", "X2", "Y2"])
print "wating for controller to init"
while(controller.get_values() == {}):
sleep(.1)
print "done"
print "running!"
while True:
control_packet = controller.get_values()
if(control_packet == {}):
print "dropped control signal: all"
try:
if (control_packet["kill"] > -1):
print "toggling reset"
sleep(1)
if (control_packet["takeoff"] > button_threshold):
print "taking off!"
sleep(1)
if (control_packet["land"] > button_threshold):
print "landing!"
sleep(1)
if (control_packet["takeover"] > button_threshold):
print "takeover"
sleep(1)
break
x = self.hysteresis(-control_packet["pitch"])
y = self.hysteresis(-control_packet["roll"])
z = self.hysteresis(-control_packet["yaw"])
z = -control_packet["descend"] - -control_packet["ascend"]
print "x=%s y=%s z=%s" %(x, y, z)
except KeyError, e:
print "dropped control signal: ", e
sleep (.1)
