def keyPressEvent(self, event:QKeyEvent):
if event.isAutoRepeat():
return
key = event.key()
if key == Qt.Key_G:
img = ObstacleMap(self.obstacles, GRAPH_TABLE_RATIO, self.robot.radius)
print("dumping")
img.dump_obstacle_grid_to_file("graph.txt")
elif key == Qt.Key_Ampersand:
self.ivy.send_action(1)
elif key == Qt.Key_Eacute:
self.ivy.send_action(2)
elif key == Qt.Key_QuoteDbl:
self.ivy.send_action(3)
elif key == Qt.Key_Apostrophe:
self.ivy.send_action(4)
elif key == Qt.Key_ParenLeft:
self.ivy.send_action(5)
elif key == Qt.Key_Minus:
self.ivy.send_action(6)
elif key == Qt.Key_Egrave:
self.ivy.send_action(7)
elif key == Qt.Key_Underscore:
self.ivy.send_action(8)
elif key == Qt.Key_Ccedilla:
self.ivy.send_action(9)
elif key == Qt.Key_Agrave:
self.ivy.send_action(10)
elif key == Qt.Key_ParenRight:
self.ivy.send_action(11)
elif key == Qt.Key_Equal:
self.ivy.send_action(12)
elif key == Qt.Key_Z:
self.robot_speed_command[1] = -1
self.ivy.send_speed_direction(self.robot_speed_command)
elif key == Qt.Key_Q:
self.robot_speed_command[0] = 1
self.ivy.send_speed_direction(self.robot_speed_command)
elif key == Qt.Key_S:
self.robot_speed_command[1] = 1
self.ivy.send_speed_direction(self.robot_speed_command)
elif key == Qt.Key_D:
self.robot_speed_command[0] = -1
self.ivy.send_speed_direction(self.robot_speed_command)
elif key == Qt.Key_A:
self.robot_speed_command[2] = 1
self.ivy.send_speed_direction(self.robot_speed_command)
elif key == Qt.Key_E:
self.robot_speed_command[2] = -1
self.ivy.send_speed_direction(self.robot_speed_command)
