def setUpClass():
VirtualJoystickTest.joystick0 = Joystick(MOTOR_JOYSTICK_ID)
VirtualJoystickTest.motors = Wheelbase(left=LEFT_MOTOR_ID,
right=RIGHT_MOTOR_ID)
VirtualJoystickTest.motors.source = steering_mixer(
VirtualJoystickTest.joystick0.values)
#VirtualJoystickTest.motors.source_delay = 0.1
VirtualJoystickTest.joystick1 = Joystick(PANTILT_JOYSTICK_ID)
VirtualJoystickTest.pan_tilt = PanTilt(pan=PAN_SERVO_ID,
tilt=TILT_SERVO_ID)
VirtualJoystickTest.pan_tilt.source = scaled_pair(
VirtualJoystickTest.joystick1.values, MAX_ANGLE, MIN_ANGLE,
JOY_AXIS_MIN, JOY_AXIS_MAX)
#VirtualJoystickTest.pan_tilt.source_delay = 0.1
# Setup Selenium
capabilities = DesiredCapabilities.CHROME
capabilities['loggingPrefs'] = {'browser': 'ALL'}
if VirtualJoystickTest.IS_CI_BUILD:
username = environ["SAUCE_USERNAME"]
access_key = environ["SAUCE_ACCESS_KEY"]
capabilities["tunnel-identifier"] = environ["TRAVIS_JOB_NUMBER"]
capabilities["build"] = environ["TRAVIS_BUILD_NUMBER"]
capabilities["tags"] = [environ["TRAVIS_PYTHON_VERSION"], "CI"]
hub_url = "%s:%s@localhost:4445" % (username, access_key)
VirtualJoystickTest.driver = webdriver.Remote(
desired_capabilities=capabilities,
command_executor="http://%s/wd/hub" % hub_url)
else:
#DRIVER = webdriver.Safari() # see: http://elementalselenium.com/tips/69-safari
#DRIVER = webdriver.Chrome() # see: https://sites.google.com/a/chromium.org/chromedriver/downloads
VirtualJoystickTest.driver = webdriver.Chrome(
desired_capabilities=capabilities)
VirtualJoystickTest.driver.implicitly_wait(BROWSER_WAIT_SECONDS)
VirtualJoystickTest.driver.maximize_window()
VirtualJoystickTest.driver.get("http://localhost:8000/")
VirtualJoystickTest.canvas = VirtualJoystickTest.driver.find_element_by_id(
"camera_view")
VirtualJoystickTest.fake_set_speed_called_values = [
OccuranceRecorder(allow_repeating_items=False),
OccuranceRecorder(allow_repeating_items=False)
]
VirtualJoystickTest.fake_set_angle_called_values = [
OccuranceRecorder(allow_repeating_items=False),
OccuranceRecorder(allow_repeating_items=False)
]
#!/usr/bin/python3
from picraftzero import Joystick, Wheelbase, steering_mixer, start
# Joystick axis range is: (left/down) -100 .. 100 (right/up)
# Motors value range is: (full speed backwards) -100 .. 100 (full speed forwards)
joystick = Joystick(
) # use the first available controller (e.g. Rock Candy, XBox360) or web client
tiny4wd_motors = Wheelbase(
left=1, right=0
) # left,right = logical id of i2c motor (auto-detected Explorer pHAT or PiConZero)
# Connect the motor speeds (left, right) to the joysticks axes (x,y), via a 'steering mixer'
tiny4wd_motors.source = steering_mixer(joystick.values)
start()
#!/usr/bin/env python
# coding: Latin-1
# Load library functions we want
# based on an example from https://github.com/thymjan
from picraftzero import Joystick, Wheelbase, steering_mixer, start
from picraftzero.thirdparty.pimoroni.explorerhat import output # instead of: from explorerhat import output
joystick = Joystick(
) # use the first available controller (e.g. Rock Candy, XBox360) or web client
motors = Wheelbase(
left=1, right=0
) # left,right = logical id of i2c motor (auto-detected Explorer pHAT or PiConZero)
motors.source = steering_mixer(
joystick.values) # convert joystick axis to motor speeds
output.one.on()
output.two.on()
try:
print('Press CTRL+C to quit')
start()
except KeyboardInterrupt:
output.one.off()
output.two.off()
print("bye")
#!/usr/bin/python3 # To install and setup pairing see: http://bluedot.readthedocs.io/en/latest/gettingstarted.html # Add the following to either: ~/.picraftzero.cfg or /etc/picraftzero.cfg # [joystick] # use_bluedot=yes # The following is exactly the same as the tiny4wd.py example, just with much less commenting here. from picraftzero import Joystick, Wheelbase, steering_mixer, start # use the first available controller joypad, webclient or BlueDot if installed and enabled in config joystick = Joystick() motors = Wheelbase(left=1, right=0) motors.source = steering_mixer(joystick.values) start()
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()
# The (WebSocket) Messages are a simple dictionary with keys of: # 'type' => message type, e.g. 'JOYSTICK' # 'id' => a logical numeric identifier, e.g. 0 = 1st (or right hand side) joystick, 1 = 2nd etc.... # 'data' => an array so it can easily be used as a tuple for later source/value processing #messages = MessageReceiver() # Find joysticks/thumbsticks for speed controll and pan/tilt control # First parameter is a logical id where 0 = right stick, 1 = left stick # Defaults to joysticks/thumbpads on the first connected controller found joystick_right= Joystick(0) joystick_left = Joystick(1) #joystick_messages = MessageEmitter(messages, type='JOYSTICK', id=0) wheelbase = Wheelbase(left=0, right=1) # left/right: logical id of i2c motor (auto-detected Explorer pHAT or PiConZero) pan_tilt = PanTilt(pan=0, tilt=1) # pan/tilt : logical id of i2c servo (auto-detected PanTilt HAT or PiConZero) # The demo Web app has 2 virtual joysticks (id's 0 & 1) that support mouse (desktop) & touch (mobile) # Joystick axis values are (left/down) -100 .. 100 (right/up) # testing printer = SourcePrinter() printer2 = SourcePrinter() def print_local_joystick():
# Find joysticks/thumbsticks for speed controll and pan/tilt control
# First parameter is a logical id where 0 = right stick, 1 = left stick
# Defaults to joysticks/thumbpads on the first controller found
# The joysticks could be on a 'physical' controller (e.g. Rock Candy) or a virtual joystick on the webapp
# The demo Web app has 2 virtual joysticks (id's 0 & 1) that support mouse (desktop) & touch (mobile)
# Joystick axis values are (left/down) -100 .. 100 (right/up)
joystick_right = Joystick(0)
joystick_left = Joystick(1)
messages = MessageReceiver(port=8001)
# Motor assume for left and right: (full speed backwards) -100 .. 100 (full speed forwards)
wheelbase = Wheelbase(
left=1, right=0
) # left/right= logical id of i2c motor (auto-detected Explorer pHAT or PiConZero)
pan_tilt = PanTilt(
pan=0, tilt=1
) # pan/tilt = logical id of i2c servo (auto-detected PanTilt HAT or PiConZero)
# Connect the motor speeds (a,b) to the joysticks axis (x,y), via conversion
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))
start()