import time
import numpy
import liblo
try:
target = liblo.Address(1234)
except liblo.AddressError, err:
print str(err)
sys.exit()
steer = 0
velocity = 0
try:
interfaceKit = InterfaceKit()
encoder = Encoder()
except RuntimeError as e:
print("Runtime Error: %s" % e.message)
def interfaceKitSensorChanged(e):
global steer
DEAD_ZONE = 0
if e.index == 0:
steer = numpy.clip((e.value-263)/110.0, -1, 1)
if abs(steer) < DEAD_ZONE:
steer = 0
print "steer", steer
return 0
def interfaceKitInputChanged(e):
"""
__author__ = 'Adam Stelmack'
__version__ = '2.1.4'
__date__ = 'May 02 2008'
#Basic imports
from ctypes import *
import sys
#Phidget specific imports
from Phidgets.PhidgetException import *
from Phidgets.Events.Events import *
from Phidgets.Devices.Encoder import *
#Create an accelerometer object
encoder = Encoder()
#Information Display Function
def displayDeviceInfo():
print "|------------|----------------------------------|--------------|------------|"
print "|- Attached -|- Type -|- Serial No. -|- Version -|"
print "|------------|----------------------------------|--------------|------------|"
print "|- %8s -|- %30s -|- %10d -|- %8d -|" % (encoder.isAttached(), encoder.getDeviceType(), encoder.getSerialNum(), encoder.getDeviceVersion())
print "|------------|----------------------------------|--------------|------------|"
return 0
#Event Handler Callback Functions
def encoderAttached(e):
attached = e.device
print "Encoder %i Attached!" % (attached.getSerialNum())
return 0
def __init__(self):
try:
encoder = Encoder()
encoder.setOnAttachHandler(self.encoderAttached)
encoder.setOnDetachHandler(self.encoderDetached)
encoder.setOnErrorhandler(self.encoderError)
encoder.setOnPositionChangeHandler(self.encoderPositionChange)
encoder.openPhidget()
self.encoder = encoder
self.attachDetachObservers = []
self.changeObservers = []
except PhidgetException as e:
print("Phidget Error %i: %s" % (e.code, e.details))
exit(1)
except RuntimeError as e:
print("Runtime Exception: %s" % e.details)
print("Exiting....")
exit(1)
