def __init__(self):
puertos = (os.popen("ls /dev/ttyACM*").read()).split()
#for x in puertos:
#print(x)
#ser = scan(x,q)
#try:
thread1 = Joystick(1, "Controller")
thread1.start()
while 1:
print(globalVariables.fila.get()[0])
print(globalVariables.fila.get()[1])
def robotInit(self):
"""Initialization method for the Frobo class. Initializes objects needed elsewhere throughout the code."""
# Initialize Joystick
self.controller = Joystick(Values.CONTROLLER_ID)
# Initialize Drive Sub-System
self.drive = FroboDrive(self, Values.DRIVE_LEFT_MAIN_ID,
Values.DRIVE_LEFT_SLAVE_ID,
Values.DRIVE_RIGHT_MAIN_ID,
Values.DRIVE_RIGHT_SLAVE_ID)
# Initialize Shooter Sub-System
self.compressor = wpilib.Compressor()
self.shooter = Shooter(self, Values.SHOOT_FRONT_ID,
Values.SHOOT_BACK_ID,
Values.SHOOT_SOLENOID_FORWARD_CHANNEL_ID,
Values.SHOOT_SOLENOID_REVERSE_CHANNEL_ID)
def main():
js = Joystick()
md = MotorDriver()
KEEP_DRIVING = True
try:
while KEEP_DRIVING:
js.get_event()
x, y = js.get_left_x_y()
x_r, y_r = js.get_right_x_y()
# Halt if Lstick in center
if y < EPSILON_FWD and y > -EPSILON_FWD\
and x < EPSILON_FWD and x > -EPSILON_FWD:
md.halt()
# Back/forward
if y > EPSILON_FWD: # y is positive when pushed down
md.go_back()
if x_r > EPSILON_FWD:
md.turn_1pt_back_right()
elif x_r < -EPSILON_FWD:
md.turn_1pt_back_left()
elif y < -EPSILON_FWD:
md.go_forward()
# 1 point Left/Right
if x_r > EPSILON_FWD:
md.turn_1pt_forward_right()
elif x_r < -EPSILON_FWD:
md.turn_1pt_forward_left()
# Spot Left/Spot Right
if x > EPSILON_FWD:
md.turn_right()
elif x < -EPSILON_FWD:
md.turn_left()
except KeyboardInterrupt as e:
KEEP_DRIVING = False
md.halt()
print("\nExiting...")
#!/usr/bin/env python3
import pygame
import time
import os
import sys
from motor_controller import MotorController
from controller import Joystick
if __name__ == '__main__':
os.environ["SDL_VIDEODRIVER"] = "dummy"
pygame.init()
pygame.joystick.init()
motoCon = MotorController()
# if controllerJoystickIsUp:
# motoCon.forward()
with Joystick(0) as controller:
while True:
controller.update()
inputs = controller.get_all_vals()
if inputs['button_0']:
motoCon.forward()
elif inputs['button_1']:
motoCon.stop()
elif inputs['button_2']:
motoCon.reverse()
motoCon.set_steering(inputs['axis_0'])
motoCon.print_stat()
time.sleep(0.1)
def __init__(self, cmdr, id = None):
if id == None:
Joystick.__init__(self, "G940")
else:
Joystick.__init__(self, id)
Steuerung.__init__(self, cmdr)
def __init__(sef, cmdr, id = None):
if id == None:
Joystick.__init__(self, "Driving Force")
else:
Joystick.__init__(self, id)
Steuerung.__init__(self, cmdr)
def __init__(self, cmdr, id = None):
if id == None:
Joystick.__init__(self, "T.Flight Hotas")
else:
Joystick.__init__(self, id)
Steuerung.__init__(self, cmdr)
def __init__(self):
self.joystick = Joystick()
self.id = 0
self.dir = ""
self.isRecording = False
self.sct = mss.mss()
resized = img.resize((160, 120))
resized.save('%s/%s' % (self.dir, self.get_image_name(id)))
def capture_joystick(self, joystick, id):
image_name = self.get_image_name(id)
throttle = joystick.getThrottle()
steering = joystick.getSteering()
brake = joystick.getBrake()
with open('%s/record_%d.json' % (self.dir, id), 'w') as f:
f.write('{"cam/image_array":"%s","user/throttle":%i,"user/steering":%i, "user/brake":%i, "user/mode":"user"}' % (image_name, throttle, steering, brake))
def is_recording(self):
return self.isRecording
if __name__ == "__main__":
joystick = Joystick()
limit = 10000
print('Limiting recording to', limit)
print ('\a')
if os.path.isfile('log/meta.json'):
with open('log/meta.json', 'w') as f:
f.write('{"inputs":["cam/image_array","user/angle","user/throttle","user/mode"],"types":["image_array","float","float","str"]}')
try:
with mss.mss() as sct:
counter = 0
prevSec = datetime.now().time().second
while True:
captureJoystick(joystick, counter)
captureScreen(sct, counter)
