def main(): if len(sys.argv) < 2: usage() print 'ERROR: not enough paramters' exit(1) port_name = sys.argv[1] # # Initialize serial connection # print 'Initializing serial connection on', port_name ser = CommsSerial(port_name, 115200) # # Initialize PyGame # pygame.init() screen = pygame.display.set_mode((640,480)) is_up = False is_down = False is_left = False is_right = False running = True while(running): for event in pygame.event.get(): if event.type == pygame.QUIT: running = False if event.type == pygame.KEYDOWN: if event.key == pygame.K_UP: is_up = True if event.key == pygame.K_DOWN: is_down = True if event.key == pygame.K_LEFT: is_left = True if event.key == pygame.K_RIGHT: is_right = True if event.type == pygame.KEYUP: if event.key == pygame.K_UP: is_up = False if event.key == pygame.K_DOWN: is_down = False if event.key == pygame.K_LEFT: is_left = False if event.key == pygame.K_RIGHT: is_right = False print 'is_up: ', is_up print 'is_down: ', is_down left_x = 0 left_y = 0 right_x = 0 right_y = 0 throttle = 0 if is_up: left_y -= 1.0 if is_down: left_y += 1.0 if is_left: left_x -= 1.0 if is_right: left_x += 1.0 button_0 = False button_1 = False button_2 = False button_3 = False button_4 = False button_5 = False button_6 = False button_7 = False button_8 = False button_9 = False print 'type: ', type(button_0) msb = struct.pack('fffff??????????', left_x, left_y, right_x, right_y, throttle, button_0, button_1, button_2, button_3, button_4, button_5, button_6, button_7, button_8, button_9 ) print 'Sending: ' for m in msb: print hex(ord(m)), print "" ser.send( 0x0002, msb ) screen.fill( (0, 0, 0) ) pygame.draw.circle( screen, (255,0,0), (50,50), 10 ) pygame.display.flip() time.sleep(0.25)
def main(): if len(sys.argv) < 2: usage() print "ERROR: not enough paramters" exit(1) port_name = sys.argv[1] # # Initialize serial connection # print "Initializing serial connection on", port_name ser = CommsSerial(port_name, 115200) hex = Hex(color.white, 0.8) hex.set_raw( 1500, 1500, 1500, # leg rear left 1500, 1500, 1500, # leg middle left 2000, 2000, 2000, # leg front left 2000, 2000, 2000, # leg front right 1500, 1500, 1500, # leg middle right 1500, 1500, 1500, ) # leg rear right hex.frame.pos = (0, 120, 0) draw_grid() while True: rate(100) hex.set_raw( 1500, 1500, 1500, # leg rear left 1500, 1500, 1500, # leg middle left 2000, 2000, 2000, # leg front left 2000, 2000, 2000, # leg front right 1500, 1500, 1500, # leg middle right 1500, 1500, 1500, ) # leg rear right b = time.time() print "Sengin msg" ser.ser.flushInput() ser.send(0x0002, None) message = ser.recv_timeout(0.5) for m in message: print hex(ord(m)), " ", print ""
def main(): if len(sys.argv) < 2: usage() print 'ERROR: not enough paramters' exit(1) port_name = sys.argv[1] # # Initialize serial connection # print 'Initializing serial connection on', port_name ser = CommsSerial(port_name, 115200) # # Initialize joystick # joy = initialize_pygame_joystick() if joy == None: print 'ERROR: No joystick found' exit(1) running = True while(running): for event in pygame.event.get(): if event.type == pygame.QUIT: running = False left_x = joy.get_axis(0) left_y = -joy.get_axis(1) right_x = joy.get_axis(3) right_y = -joy.get_axis(2) throttle = joy.get_axis(4) button_0 = joy.get_button(0) button_1 = joy.get_button(1) button_2 = joy.get_button(2) button_3 = joy.get_button(3) button_4 = joy.get_button(4) button_5 = joy.get_button(5) button_6 = joy.get_button(6) button_7 = joy.get_button(7) button_8 = joy.get_button(8) button_9 = joy.get_button(9) print 'type: ', type(button_0) msb = struct.pack('fffff??????????', left_x, left_y, right_x, right_y, throttle, button_0, button_1, button_2, button_3, button_4, button_5, button_6, button_7, button_8, button_9 ) print 'Sending: ' for m in msb: print hex(ord(m)), print "" ser.send( 0x0002, msb ) time.sleep(0.25)