def triple_input_pantilt_scaling_no_conversion():
pan_tilt.source = join_values(
filter_messages(messages.values, type='JOYSTICK', id=1),
filter_messages(messages.values, type='PANTILT', id=0),
scaled_pair(joystick_left.values, 0, 180, -100, 100),
)
def triple_input_filter():
printer.name = "triple_input_filter"
printer.source = join_values(
joystick_left.values,
filter_messages(messages.values, type='JOYSTICK', id=1),
filter_messages(messages.values, type='PANTILT', id=0),
)
def simple_robot_dual_joystick():
wheelbase.source = steering_mixer(join_values(
joystick_right.values,
filter_messages(messages.values, type='JOYSTICK', id=0))
)
pan_tilt.source = pantilt_converter(join_values(
joystick_left.values,
filter_messages(messages.values, type='JOYSTICK', id=1)))
def triple_input_filter_all_input_scaled():
printer.name = "triple_input_filter_all_input_scaled"
printer.source = join_values(
scaled_pair(joystick_left.values, -10, 10, -100, 100),
scaled_pair(filter_messages(messages.values, type='JOYSTICK', id=0), -50, 50, -100, 100),
scaled_pair(filter_messages(messages.values, type='JOYSTICK', id=1), -10, 10, -100, 100),
)
def print_pantilt_three_combined_streams():
# Map input values from local and remote joysticks (scaled)
# Accepts remote 'PANTILT' messages that (scaling not required)
printer.name = "print_pantilt_three_combined_streams"
printer.source = join_values(
scaled_pair(joystick_left.values, 0, 180, -100, 100),
scaled_pair(filter_messages(messages.values, type='JOYSTICK', id=1), 0, 180, -100, 100),
filter_messages(messages.values, type='PANTILT', id=0)
)
def dual_joystick_wheelbase_pantilt():
wheelbase.source = join_values(
joystick_right.values,
filter_messages(messages.values, type='JOYSTICK', id=0),
)
pan_tilt.source = join_values(
joystick_left.values,
filter_messages(messages.values, type='JOYSTICK', id=1),
)
def robot():
wheelbase.source = steering_mixer(
join_values(
filter_messages(messages.values, type='JOYSTICK', id=0),
joystick_right.values
)
)
pan_tilt.source = join_values(
filter_messages(messages.values, type='PANTILT', id=0),
scaled_pair(
join_values(joystick_left.values, filter_messages(messages.values, type='JOYSTICK', id=1)), 180, 0, -100, 100),
# filter_messages(messages.values, type='PANTILT', id=0),
# scaled_pair(joystick_left.values, 0, 180, -100, 100),
# scaled_pair(filter_messages(messages.values, type='JOYSTICK', id=1), 0, 180, -100, 100),
)
def mock_robot():
printer.name = "mock_robot___WHEELS"
printer.source = steering_mixer(
join_values(
filter_messages(messages.values, type='JOYSTICK', id=0),
joystick_right.values
)
)
printer2.name = "mock_robot__PANTILT"
printer2.source = join_values(
filter_messages(messages.values, type='PANTILT', id=0),
scaled_pair(
join_values(joystick_left.values, filter_messages(messages.values, type='JOYSTICK', id=1)), 180, 0, -100, 100),
)
def dual_triple_input_filter_all_input_scaled_pantilt_conversion():
printer.name = "dual_triple_input_filter_all_input_scaled_pantilt_conversion__ONE"
printer.source = pantilt_converter(
join_values(
scaled_pair(joystick_left.values, -10, 10, -100, 100),
scaled_pair(filter_messages(messages.values, type='JOYSTICK', id=0), -50, 50, -100, 100),
scaled_pair(filter_messages(messages.values, type='JOYSTICK', id=1), -10, 10, -100, 100),
)
)
printer2.name = "dual_triple_input_filter_all_input_scaled_pantilt_conversion__TWO"
printer2.source = pantilt_converter(
join_values(
scaled_pair(joystick_left.values, -10, 10, -100, 100),
scaled_pair(filter_messages(messages.values, type='JOYSTICK', id=0), -50, 50, -100, 100),
scaled_pair(filter_messages(messages.values, type='JOYSTICK', id=1), -10, 10, -100, 100),
)
)
def mock_robot_builtin_pantilt_conversion():
printer.name = "mock_robot_builtin_pantilt_conversion___WHEELS"
printer.source = steering_mixer(
join_values(
filter_messages(messages.values, type='JOYSTICK', id=0),
joystick_right.values
)
)
printer2.name = "mock_robot_builtin_pantilt_conversion__PANTILT"
printer2.source = join_values(
filter_messages(messages.values, type='PANTILT', id=0),
pantilt_converter(
join_values(
scaled_pair(joystick_left.values, -10, 10, -100, 100),
filter_messages(messages.values, type='JOYSTICK', id=1),
)
)
)
from picraftzero.config import get_config
config = get_config()
script_file = config.get('service', 'script', fallback=None)
if script_file:
logger.info("Running user script: {}".format(script_file))
with open(script_file) as f:
code = compile(f.read(), script_file, 'exec')
exec(code)
# user script is expected to exit with an error code or 0, so shouldnt reach here
exit(1)
# see the `pantilt.py` example for more info.
from picraftzero import Wheelbase, PanTilt, Joystick, steering_mixer, scaled_pair, start, filter_messages, MessageReceiver, join_values
joystick_right = Joystick(0)
joystick_left = Joystick(1)
messages = MessageReceiver(port=8001)
wheelbase = Wheelbase(left=1, right=0)
pan_tilt = PanTilt(pan=0, tilt=1)
wheelbase.source = steering_mixer(joystick_right.values)
pan_tilt.source = join_values(
filter_messages(messages.values, type='PANTILT', id=0),
scaled_pair(joystick_left.values, 180, 0, -100, 100))
if __name__ == '__main__':
start()
def print_combined_joysticks(joystick_id = 0):
printer.name = "print_combined_joysticks"
printer.source = join_values(filter_messages(messages.values, type='JOYSTICK', id=joystick_id), joystick_right.values)
def print_remote_joystick(joystick_id = 0):
printer.name = "print_remote_joystick"
printer.source = filter_messages(messages.values, type='JOYSTICK', id=joystick_id)
def dual_joystick_pantilt():
pan_tilt.source = join_values(
joystick_left.values,
filter_messages(messages.values, type='JOYSTICK', id=1),
)
def dual_joystick_wheelbase():
wheelbase.source = join_values(
joystick_right.values,
filter_messages(messages.values, type='JOYSTICK', id=0),
)
def remote_joystick_pantilt():
pan_tilt.source = pantilt_converter(filter_messages(messages.values, type='JOYSTICK', id=1))
def remote_joystick_wheelbase():
wheelbase.source = steering_mixer(filter_messages(messages.values, type='JOYSTICK', id=0) )
