class PiperCommandCenter:
def __init__(self,
joy_x_pin=board.A4,
joy_y_pin=board.A3,
joy_z_pin=board.D2,
joy_gnd_pin=board.A5,
dpad_l_pin=board.D3,
dpad_r_pin=board.D4,
dpad_u_pin=board.D1,
dpad_d_pin=board.D0,
mc_top_pin=board.SCK,
mc_middle_pin=board.MOSI,
mc_bottom_pin=board.MISO,
outputScale=20.0,
deadbandCutoff=0.1,
weight=0.2):
self.x_axis = PiperJoystickAxis(joy_x_pin,
outputScale=outputScale,
deadbandCutoff=deadbandCutoff,
weight=weight)
self.y_axis = PiperJoystickAxis(joy_y_pin,
outputScale=outputScale,
deadbandCutoff=deadbandCutoff,
weight=weight)
self.joy_z = PiperJoystickZ(joy_z_pin)
self.dpad = PiperDpad(dpad_l_pin, dpad_r_pin, dpad_u_pin, dpad_d_pin)
self.minecraftbuttons = PiperMineCraftButtons(mc_top_pin,
mc_middle_pin,
mc_bottom_pin)
# Drive pin low if requested for easier joystick wiring
if joy_gnd_pin is not None:
# Provide a ground for the joystick - this is to facilitate
# easier wiring
self.joystick_gnd = DigitalInOut(joy_gnd_pin)
self.joystick_gnd.direction = Direction.OUTPUT
self.joystick_gnd.value = 0
self.keyboard = Keyboard(usb_hid.devices)
self.keyboard_layout = KeyboardLayoutUS(
self.keyboard) # Change for non-US
self.mouse = Mouse(usb_hid.devices)
# State
#
self.state = _UNWIRED
self.timer = time.monotonic()
self.last_mouse_wheel = time.monotonic()
self.last_mouse = time.monotonic()
self.dotstar_led = adafruit_dotstar.DotStar(board.APA102_SCK,
board.APA102_MOSI, 1)
self.dotstar_led.brightness = 0.2
self.up_pressed = False
self.down_pressed = False
self.left_pressed = False
self.right_pressed = False
self.mc_mode = _MC_DEFAULT
self.mc_flyingdown_req = False
self.mc_sprinting_req = False
self.mc_crouching_req = False
self.mc_utility_req = False
# def process_repl_cmds(self):
# # Assume that the command will be pasted, because input()
# # will block until end of line
# #
# if supervisor.runtime.serial_bytes_available:
# cmd = input()
# exec(cmd)
def releaseJoystickHID(self):
self.mouse.release(Mouse.LEFT_BUTTON)
self.mouse.release(Mouse.RIGHT_BUTTON)
def releaseKeyboardHID(self):
self.keyboard.release(Keycode.UP_ARROW)
self.keyboard.release(Keycode.DOWN_ARROW)
self.keyboard.release(Keycode.LEFT_ARROW)
self.keyboard.release(Keycode.RIGHT_ARROW)
self.keyboard.release(Keycode.SPACE)
self.keyboard.release(Keycode.X)
self.keyboard.release(Keycode.Z)
self.keyboard.release(Keycode.C)
def releaseMinecraftHID(self):
self.mouse.release(Mouse.LEFT_BUTTON)
self.mouse.release(Mouse.MIDDLE_BUTTON)
self.mouse.release(Mouse.RIGHT_BUTTON)
self.keyboard.release(Keycode.A)
self.keyboard.release(Keycode.CONTROL)
self.keyboard.release(Keycode.D)
self.keyboard.release(Keycode.E)
self.keyboard.release(Keycode.ESCAPE)
self.keyboard.release(Keycode.F5)
self.keyboard.release(Keycode.LEFT_SHIFT)
self.keyboard.release(Keycode.Q)
self.keyboard.release(Keycode.S)
self.keyboard.release(Keycode.SPACE)
self.keyboard.release(Keycode.W)
def process(self):
#self.process_repl_cmds()
# Call the debouncing library frequently
self.joy_z.update()
self.dpad.update()
self.minecraftbuttons.update()
dx = self.x_axis.readJoystickAxis()
dy = self.y_axis.readJoystickAxis()
# Command Center State Machine
#
if self.state == _UNWIRED:
self.dotstar_led[0] = ((time.monotonic_ns() >> 23) % 256, 0, 0)
if dx == 0 and dy == 0:
self.state = _WAITING
self.timer = time.monotonic()
elif self.state == _WAITING:
self.dotstar_led[0] = ((time.monotonic_ns() >> 23) % 256, 0, 0)
if dx != 0 or dy != 0:
self.state = _UNWIRED
else:
if time.monotonic() - self.timer > 0.5:
self.state = _JOYSTICK
elif self.state == _JOYSTICK:
self.dotstar_led[0] = (0, 255, 0)
if self.joy_z.zPressed():
self.timer = time.monotonic()
self.state = _JWAITING
elif self.state == _JWAITING:
if not self.joy_z.zPressed():
self.state = _JOYSTICK
else:
if time.monotonic() - self.timer > 1.0:
self.state = _KEYBOARD
self.releaseJoystickHID()
elif self.state == _KEYBOARD:
self.dotstar_led[0] = (0, 0, 255)
if self.joy_z.zPressed(
) and not self.minecraftbuttons.bottomPressed():
self.timer = time.monotonic()
self.state = _KWAITING_TO_J
elif self.joy_z.zPressed() and self.minecraftbuttons.bottomPressed(
):
self.timer = time.monotonic()
self.state = _KWAITING_TO_MC
elif self.state == _KWAITING_TO_J:
if not self.joy_z.zPressed(
) or self.minecraftbuttons.bottomPressed():
self.state = _KEYBOARD
self.up_pressed = False
self.down_pressed = False
self.left_pressed = False
self.right_pressed = False
else:
if time.monotonic() - self.timer > 1.0:
self.state = _JOYSTICK
self.releaseKeyboardHID()
elif self.state == _KWAITING_TO_MC:
if not self.joy_z.zPressed(
) or not self.minecraftbuttons.bottomPressed():
self.state = _KEYBOARD
self.up_pressed = False
self.down_pressed = False
self.left_pressed = False
self.right_pressed = False
else:
if time.monotonic() - self.timer > 1.0:
self.state = _MINECRAFT
self.releaseKeyboardHID()
elif self.state == _MINECRAFT:
if self.mc_mode == _MC_DEFAULT:
self.dotstar_led[0] = (0, 255, 255) # cyan
elif self.mc_mode == _MC_FLYINGDOWN:
self.dotstar_led[0] = (255, 0, 255) # magenta
elif self.mc_mode == _MC_SPRINTING:
self.dotstar_led[0] = (255, 128, 128) # pink
elif self.mc_mode == _MC_CROUCHING:
self.dotstar_led[0] = (255, 165, 0) # orange
elif self.mc_mode == _MC_UTILITY:
self.dotstar_led[0] = (255, 255, 0) # yellow
if self.joy_z.zPressed() and self.dpad.upPressed(
) and self.dpad.downPressed() and self.dpad.leftPressed(
) and self.dpad.rightPressed():
self.timer = time.monotonic()
self.state = _MWAITING
elif self.state == _MWAITING:
if not self.joy_z.zPressed() or not self.dpad.upPressed(
) or not self.dpad.downPressed() or not self.dpad.leftPressed(
) or not self.dpad.rightPressed():
self.state = _MINECRAFT
else:
if time.monotonic() - self.timer > 1.0:
self.state = _JOYSTICK
self.releaseMinecraftHID()
# Command Center Joystick Handling
#
if self.state == _JOYSTICK or self.state == _JWAITING:
# Determine mouse wheel direction
#
dwheel = 0
if self.dpad.upPressed():
dwheel = -1
elif self.dpad.downPressed():
dwheel = 1
# Initial quick and dirty mouse movement pacing
#
if time.monotonic() - self.last_mouse > 0.005:
self.last_mouse = time.monotonic()
self.mouse.move(x=dx, y=dy)
# Initial quick and dirty mouse scroll wheel pacing
#
if time.monotonic() - self.last_mouse_wheel > 0.1:
self.last_mouse_wheel = time.monotonic()
self.mouse.move(wheel=dwheel)
if self.dpad.leftPressedEvent():
self.mouse.press(Mouse.LEFT_BUTTON)
elif self.dpad.leftReleasedEvent():
self.mouse.release(Mouse.LEFT_BUTTON)
if self.dpad.rightPressedEvent():
self.mouse.press(Mouse.RIGHT_BUTTON)
elif self.dpad.rightReleasedEvent():
self.mouse.release(Mouse.RIGHT_BUTTON)
# Command Center Keyboard Handling
#
if self.state == _KEYBOARD or self.state == _KWAITING_TO_J or self.state == _KWAITING_TO_MC:
if self.dpad.upPressedEvent():
self.keyboard.press(Keycode.SPACE)
elif self.dpad.upReleasedEvent():
self.keyboard.release(Keycode.SPACE)
if self.dpad.downPressedEvent():
self.keyboard.press(Keycode.X)
elif self.dpad.downReleasedEvent():
self.keyboard.release(Keycode.X)
if self.dpad.leftPressedEvent():
self.keyboard.press(Keycode.Z)
elif self.dpad.leftReleasedEvent():
self.keyboard.release(Keycode.Z)
if self.dpad.rightPressedEvent():
self.keyboard.press(Keycode.C)
elif self.dpad.rightReleasedEvent():
self.keyboard.release(Keycode.C)
if dx == 0:
if self.left_pressed:
self.left_pressed = False
self.keyboard.release(Keycode.LEFT_ARROW)
if self.right_pressed:
self.right_pressed = False
self.keyboard.release(Keycode.RIGHT_ARROW)
elif dx > 0:
if self.left_pressed:
self.left_pressed = False
self.keyboard.release(Keycode.LEFT_ARROW)
if not self.right_pressed:
self.right_pressed = True
self.keyboard.press(Keycode.RIGHT_ARROW)
elif dx < 0:
if not self.left_pressed:
self.left_pressed = True
self.keyboard.press(Keycode.LEFT_ARROW)
if self.right_pressed:
self.right_pressed = False
self.keyboard.release(Keycode.RIGHT_ARROW)
if dy == 0:
if self.up_pressed:
self.up_pressed = False
self.keyboard.release(Keycode.UP_ARROW)
if self.down_pressed:
self.down_pressed = False
self.keyboard.release(Keycode.DOWN_ARROW)
elif dy < 0:
if not self.up_pressed:
self.up_pressed = True
self.keyboard.press(Keycode.UP_ARROW)
if self.down_pressed:
self.down_pressed = False
self.keyboard.release(Keycode.DOWN_ARROW)
elif dy > 0:
if self.up_pressed:
self.up_pressed = False
self.keyboard.release(Keycode.UP_ARROW)
if not self.down_pressed:
self.down_pressed = True
self.keyboard.press(Keycode.DOWN_ARROW)
# Command Center Minecraft Handling
#
if self.state == _MINECRAFT:
# Modifier button
#
if self.minecraftbuttons.bottomPressed():
if self.joy_z.zPressedEvent():
self.mc_flyingdown_req = True
self.mc_sprinting_req = False
self.mc_crouching_req = False
self.mc_utility_req = False
elif self.dpad.upPressedEvent():
self.mc_flyingdown_req = False
self.mc_sprinting_req = True
self.mc_crouching_req = False
self.mc_utility_req = False
elif self.dpad.downPressedEvent():
self.mc_flyingdown_req = False
self.mc_sprinting_req = False
self.mc_crouching_req = True
self.mc_utility_req = False
elif self.dpad.leftPressedEvent():
self.mc_flyingdown_req = False
self.mc_sprinting_req = False
self.mc_crouching_req = False
self.mc_utility_req = True
if self.minecraftbuttons.bottomReleasedEvent():
self.releaseMinecraftHID()
if self.mc_flyingdown_req:
self.mc_mode = _MC_FLYINGDOWN
self.mc_flyingdown_req = False
elif self.mc_sprinting_req:
self.mc_mode = _MC_SPRINTING
self.mc_sprinting_req = False
self.keyboard.press(Keycode.CONTROL)
elif self.mc_crouching_req:
self.mc_mode = _MC_CROUCHING
self.mc_crouching_req = False
self.keyboard.press(Keycode.LEFT_SHIFT)
elif self.mc_utility_req:
self.mc_mode = _MC_UTILITY
self.mc_utility_req = False
else:
self.mc_mode = _MC_DEFAULT
# Joystick functionality for mouse movement is always active
#
# Mouse movement is paced - may need to adjust
#
if time.monotonic() - self.last_mouse > 0.005:
self.last_mouse = time.monotonic()
self.mouse.move(x=dx, y=dy)
# Top and bottom buttons changed by mod key in default mode
#
if self.mc_mode == _MC_DEFAULT and self.minecraftbuttons.bottomPressed(
):
if self.minecraftbuttons.topPressedEvent():
self.keyboard.press(Keycode.Q)
elif self.minecraftbuttons.topReleasedEvent():
self.keyboard.release(Keycode.Q)
if self.minecraftbuttons.middlePressedEvent():
self.mouse.press(Mouse.MIDDLE_BUTTON)
elif self.minecraftbuttons.middleReleasedEvent():
self.mouse.release(Mouse.MIDDLE_BUTTON)
else:
if self.minecraftbuttons.topPressedEvent():
self.mouse.press(Mouse.LEFT_BUTTON)
elif self.minecraftbuttons.topReleasedEvent():
self.mouse.release(Mouse.LEFT_BUTTON)
if self.minecraftbuttons.middlePressedEvent():
self.mouse.press(Mouse.RIGHT_BUTTON)
elif self.minecraftbuttons.middleReleasedEvent():
self.mouse.release(Mouse.RIGHT_BUTTON)
# Don't generate key presses for buttons if modifier key is pressed
#
if not self.minecraftbuttons.bottomPressed():
# Joystick button changes based on minecraft mode
#
if self.joy_z.zPressedEvent():
self.keyboard.press(_MC_JOYSTICK_Z[self.mc_mode])
elif self.joy_z.zReleasedEvent():
self.keyboard.release(_MC_JOYSTICK_Z[self.mc_mode])
# DPAD buttons special in utility mode
#
if self.mc_mode == _MC_UTILITY:
if self.dpad.upPressedEvent():
self.mouse.move(wheel=-1)
if self.dpad.downPressedEvent():
self.mouse.move(wheel=1)
if self.dpad.leftPressedEvent():
self.keyboard.press(Keycode.E)
elif self.dpad.leftReleasedEvent():
self.keyboard.release(Keycode.E)
if self.dpad.rightPressedEvent():
self.keyboard.press(Keycode.ESCAPE)
elif self.dpad.rightReleasedEvent():
self.keyboard.release(Keycode.ESCAPE)
else:
if self.dpad.upPressedEvent():
self.keyboard.press(Keycode.W)
elif self.dpad.upReleasedEvent():
self.keyboard.release(Keycode.W)
if self.dpad.downPressedEvent():
self.keyboard.press(Keycode.S)
elif self.dpad.downReleasedEvent():
self.keyboard.release(Keycode.S)
if self.dpad.leftPressedEvent():
self.keyboard.press(Keycode.A)
elif self.dpad.leftReleasedEvent():
self.keyboard.release(Keycode.A)
if self.dpad.rightPressedEvent():
self.keyboard.press(Keycode.D)
elif self.dpad.rightReleasedEvent():
self.keyboard.release(Keycode.D)
relY = y - centerY
m.move(int(scaleX * relX), int(scaleY * relY), 0)
buttons = nc.buttons
c = buttons.C
z = buttons.Z
if z and not zDown:
stillDown = True
for n in range(CHECK_COUNT):
if nc.button_Z:
stillDown = False
break
if stillDown:
m.press(Mouse.LEFT_BUTTON)
zDown = True
elif not z and zDown:
stillDown = True
for n in range(CHECK_COUNT):
if not nc.button_Z:
stillDown = False
break
if stillDown:
m.release(Mouse.LEFT_BUTTON)
zDown = False
if c and not cDown:
m.press(Mouse.RIGHT_BUTTON)
cDown = True
elif not c and cDown:
m.release(Mouse.RIGHT_BUTTON)
# Countdown to start - give time for the OS to see the device
dot[0] = (15, 0, 0)
sleep(2)
dot[0] = (0, 0, 127)
sleep(2)
dot[0] = (0, 15, 0)
sleep(2)
# The main loop - hold the right mouse button for 2 minutes, then scan left and right
while True:
dot[0] = (15, 0, 0)
mouse.press(Mouse.RIGHT_BUTTON)
sleep(120)
mouse.release(Mouse.RIGHT_BUTTON)
sleep(1)
dot[0] = (0, 15, 0)
key = Keycode.A
keyboard.press(key)
sleep(0.1)
keyboard.release(key)
sleep(0.3)
dot[0] = (0, 0, 127)
key = Keycode.D
buttons = 0
buttons_released = 0
press_flg = False
release_flg = False
if not btn1.value: #Press
if not prev_btn1:
buttons = buttons | Mouse.LEFT_BUTTON
press_flg = True
prev_btn1 = True
else:
if prev_btn1:
buttons_released = buttons_released | Mouse.LEFT_BUTTON
release_flg = True
prev_btn1 = False
if not btn2.value: #Press
if not prev_btn2:
buttons = buttons | Mouse.RIGHT_BUTTON
press_flg = True
prev_btn2 = True
else:
if prev_btn1:
buttons_released = buttons_released | Mouse.RIGHT_BUTTON
release_flg = True
prev_btn2 = False
if press_flg:
mouse.press(buttons)
if release_flg:
mouse.release(buttons_released)
time.sleep(0.01)
# Fonction permettant de déplacer le curseur sur de nouvelles coordonnées en cliquant gauche ou pas
def trace(Depl_X,Depl_Y,BOUTON) :
# Si le 3ème paramètre est 'C' alors on émule un clic sur le bouton gauche de la souris
# sinon on relâche l'ensemble des boutons
if (BOUTON == 'C') :
souris.press(Mouse.LEFT_BUTTON)
else :
souris.release_all()
# On déplace le curseur via les déplacements relatifs Depl_X et Depl_Y
souris.move(x=Depl_X, y=Depl_Y)
# On trace le dessin en prenant chaque coordonnée dans le tuple
for coordonnee in dessin :
trace(coordonnee[0],coordonnee[1],coordonnee[2])
# pause pour donner l'impression d'un dessin fait à la main
sleep(0.1)
# Relâche le bouton de la souris et ramène le curseur à gauche sous le dessin précédent
souris.release_all()
souris.move(x=-((6*L)+(5*E)),y=2*H)
# Emule l'appui sur le bouton gauche de la souris puis trace un sinus pour souligner
souris.press(Mouse.LEFT_BUTTON)
for i in range (2*180) :
souris.move(x=1, y=int(10*sin(i)))
# Emule le relâchement de tous les boutons de la souris
souris.release_all()
print("fin")
if data_string[:5]=="MCLIC":
try:
mouse.click(int(data_string[6:]))
uart.write(b'OK')
except:
print("MCLIC ERROR")
uart.write(b'NO')
# MMOVE:x,y,wheel ex. MMOVE:x=-10,y=2
if data_string[:5]=="MMOVE":
try:
mouse.move(data_string[6:])
uart.write(b'OK')
except:
print("MMOVE ERROR")
uart.write(b'NO')
# MPRES:button (1,2 or 4) ex. MPRES:2
if data_string[:5]=="MPRES":
try:
mouse.press(int(data_string[6:]))
uart.write(b'OK')
except:
print("MPRES ERROR")
uart.write(b'NO')
# MRLEA:button (1,2 or 4) ex. MRLEA:2
if data_string[:5]=="MRLEA":
try:
mouse.release(int(data_string[6:]))
uart.write(b'OK')
except:
print("MRLEA ERROR")
uart.write(b'NO')
class PiperCommandCenter:
def __init__(self,
joy_x_pin=board.A4,
joy_y_pin=board.A3,
joy_z_pin=board.D2,
joy_gnd_pin=board.A5,
dpad_l_pin=board.D3,
dpad_r_pin=board.D4,
dpad_u_pin=board.D1,
dpad_d_pin=board.D0,
outputScale=20.0,
deadbandCutoff=0.1,
weight=0.2):
self.x_axis = PiperJoystickAxis(joy_x_pin,
outputScale=outputScale,
deadbandCutoff=deadbandCutoff,
weight=weight)
self.y_axis = PiperJoystickAxis(joy_y_pin,
outputScale=outputScale,
deadbandCutoff=deadbandCutoff,
weight=weight)
self.joy_z = PiperJoystickZ(joy_z_pin)
self.dpad = PiperDpad(dpad_l_pin, dpad_r_pin, dpad_u_pin, dpad_d_pin)
# Drive pin low if requested for easier joystick wiring
if joy_gnd_pin is not None:
# Provide a ground for the joystick - this is to facilitate
# easier wiring
self.joystick_gnd = DigitalInOut(joy_gnd_pin)
self.joystick_gnd.direction = Direction.OUTPUT
self.joystick_gnd.value = 0
self.keyboard = Keyboard(usb_hid.devices)
self.keyboard_layout = KeyboardLayoutUS(
self.keyboard) # Change for non-US
self.mouse = Mouse(usb_hid.devices)
# State
#
self.state = _UNWIRED
self.timer = time.monotonic()
self.last_mouse_wheel = time.monotonic()
self.last_mouse = time.monotonic()
self.dotstar_led = adafruit_dotstar.DotStar(board.APA102_SCK,
board.APA102_MOSI, 1)
self.dotstar_led.brightness = 0.2
self.up_pressed = False
self.down_pressed = False
self.left_pressed = False
self.right_pressed = False
def process(self):
# Call the debouncing library frequently
self.joy_z.update()
self.dpad.update()
dx = self.x_axis.readJoystickAxis()
dy = self.y_axis.readJoystickAxis()
# Command Center State Machine
#
if self.state == _UNWIRED:
self.dotstar_led[0] = ((time.monotonic_ns() >> 23) % 256, 0, 0)
if dx == 0 and dy == 0:
self.state = _WAITING
self.timer = time.monotonic()
elif self.state == _WAITING:
self.dotstar_led[0] = ((time.monotonic_ns() >> 23) % 256, 0, 0)
if dx != 0 or dy != 0:
self.state = _UNWIRED
else:
if time.monotonic() - self.timer > 0.5:
self.state = _JOYSTICK
elif self.state == _JOYSTICK:
self.dotstar_led[0] = (0, 255, 0)
if self.joy_z.zPressed():
self.timer = time.monotonic()
self.state = _JWAITING
elif self.state == _JWAITING:
if not self.joy_z.zPressed():
self.state = _JOYSTICK
else:
if time.monotonic() - self.timer > 1.0:
self.mouse.release(Mouse.LEFT_BUTTON)
self.mouse.release(Mouse.RIGHT_BUTTON)
self.state = _USERCODE
elif self.state == _USERCODE:
self.dotstar_led[0] = (0, 0, 0)
self.dotstar_led.deinit()
self.joystick_gnd.deinit()
self.x_axis.deinit()
self.y_axis.deinit()
self.dpad.deinit()
self.joy_z.deinit()
try:
# Load usercode.py
__import__("usercode")
except ImportError:
print("Missing usercode.py file")
# If we get here due to an exception or the user code exiting
# then restart as it's probably going to by the most stable
# strategy
#
supervisor.reload()
# Command Center Joystick Handling
#
if self.state == _JOYSTICK or self.state == _JWAITING:
# Determine mouse wheel direction
#
dwheel = 0
if self.dpad.upPressed():
dwheel = -1
elif self.dpad.downPressed():
dwheel = 1
# Initial quick and dirty mouse movement pacing
#
if time.monotonic() - self.last_mouse > 0.005:
self.last_mouse = time.monotonic()
self.mouse.move(x=dx, y=dy)
# Initial quick and dirty mouse scroll wheel pacing
#
if time.monotonic() - self.last_mouse_wheel > 0.1:
self.last_mouse_wheel = time.monotonic()
self.mouse.move(wheel=dwheel)
if self.dpad.leftPressedEvent():
self.mouse.press(Mouse.LEFT_BUTTON)
elif self.dpad.leftReleasedEvent():
self.mouse.release(Mouse.LEFT_BUTTON)
if self.dpad.rightPressedEvent():
self.mouse.press(Mouse.RIGHT_BUTTON)
elif self.dpad.rightReleasedEvent():
self.mouse.release(Mouse.RIGHT_BUTTON)
