def run_wheel(self):
while self.do_run:
if self.can_drive():
angle = self.get_data()['x']
if angle is None:
continue
base = 0.000005
multiplexors = self.get_multiplexors()
koeff = {
'linear': base * multiplexors['linear'],
'integral': base * multiplexors['integral'],
'diff': base * multiplexors['diff']
}
self.integral = koeff['integral'] * angle + self.integral
differential = koeff['diff'] * (angle - self.angle_prev)
self.angle_prev = angle
interval = koeff[
'linear'] * angle + self.integral + differential
# if -10 < angle < -10:
# continue
# print(interval)
if interval > 0:
kbe.keyPress(kbe.SC_LEFT, interval)
elif interval < 0:
kbe.keyPress(kbe.SC_RIGHT, -interval)
def run_speed(self):
while self.do_run:
if self.can_drive():
radius = self.get_data()['y']
if radius is None:
continue
gas = 0.15
sleep = gas
if np.absolute(radius - self.radius_prev) > np.absolute(
self.radius_prev) * 0.10:
kbe.keyPress(kbe.SC_DOWN, sleep)
elif np.absolute(radius - self.radius_prev) > np.absolute(
self.radius_prev) * 0.05:
kbe.keyPress(kbe.SC_UP, gas * 1.5)
else:
kbe.keyPress(kbe.SC_UP, gas)
time.sleep(sleep)
self.radius_prev = radius
def run(self):
while self.do_run:
if self.can_drive():
angle = self.get_data()
if angle is None:
continue
elif angle > 45:
kbe.keyPress(kbe.SC_LEFT)
kbe.keyPress(kbe.SC_DOWN, 0.2)
elif angle > 25:
kbe.keyPress(kbe.SC_LEFT)
kbe.keyPress(kbe.SC_DOWN, 0.15)
elif angle > 15:
kbe.keyPress(kbe.SC_LEFT)
elif angle > 5:
kbe.keyPress(kbe.SC_LEFT)
kbe.keyPress(kbe.SC_UP, 0.2)
elif angle < -45:
kbe.keyPress(kbe.SC_RIGHT)
kbe.keyPress(kbe.SC_DOWN, 0.3)
elif angle < -25:
kbe.keyPress(kbe.SC_RIGHT)
kbe.keyPress(kbe.SC_DOWN, 0.3)
elif angle < -15:
kbe.keyPress(kbe.SC_RIGHT)
elif angle < -5:
kbe.keyPress(kbe.SC_RIGHT)
kbe.keyPress(kbe.SC_UP, 0.15)
else:
kbe.keyPress(kbe.SC_UP, 0.1)
kbe.keyPress(kbe.SC_UP, 0.1)
def wheel():
while True:
#time.sleep(1)
mouse = pyautogui.position()
mouse_at_window = mouse[0] >= window[0] and mouse[0] <= window[
2] and mouse[1] >= window[1] and mouse[1] <= window[3]
if ranges['wheel'][0] == 1 and mouse_at_window:
if 'l' == command:
kbe.keyPress(kbe.SC_LEFT)
kbe.keyPress(kbe.SC_DOWN, 0.1)
elif 'l' == command:
kbe.keyPress(kbe.SC_RIGHT)
kbe.keyPress(kbe.SC_DOWN, 0.1)
elif 'f' == command:
kbe.keyPress(kbe.SC_UP, 0.1)
kbe.keyPress(kbe.SC_UP, 0.1)