def button_PS3(_ps3_ControllerMode):
nonlocal current_challenge_thread, tank_drive_on
# # change the controller Mode.
_ps3_ControllerMode += 1
if _ps3_ControllerMode == 1:
tank_drive_on = True
os.system('clear')
debug.print_to_all_devices("You are in Drive Mode ", "-D")
head_controller.leds_change_color(
head_controller.leds_color['green'])
head_controller.leds_flash(False)
elif _ps3_ControllerMode == 2:
stop_current_challenge()
ui.display_selected_challenge(current_challenge)
tank_drive_on = False
elif _ps3_ControllerMode == 3:
tank_drive_on = True
_ps3_ControllerMode = 0
os.system('clear')
debug.print_to_all_devices("You are in Exterminate Mode", "-E")
return _ps3_ControllerMode
def calibrate_compass():
head_controller.leds_change_color(head_controller.leds_color['yellow'])
# print("point your bot in the forward position.")
head_controller.head_move_to_center(0)
time.sleep(.4)
compass_positions['forward'] = DalekSensors.compass
if compass_positions['left'] == -1:
head_controller.head_move_left_90deg(0)
time.sleep(1)
compass_positions['left'] = DalekSensors.compass
if compass_positions['right'] == -1:
head_controller.head_move_right_90deg(0)
time.sleep(1)
compass_positions['right'] = DalekSensors.compass
# forward, left and right done
head_controller.head_move_to_center(0)
time.sleep(.3)
head_controller.leds_change_color(head_controller.leds_color['green'])
print("left mag:{} center mag:{} right mag:{} backwards:{}" .format(
compass_positions['left'],
compass_positions['forward'],
compass_positions['right'],
compass_positions['backwards']))
def init():
head_controller.leds_change_color(head_controller.leds_color['red'])
head_controller.leds_flash()
fn = '/dev/input/js0'
debug.print_to_all_devices("Testing for joystick: {}...".format(fn))
file_exists = False
while file_exists == False:
file_exists = os.path.exists(fn)
debug.print_to_all_devices('joystick paired: {} '.format(
os.path.exists(fn)))
time.sleep(3)
jsdev = open(fn, 'rb')
def print_compass():
print("L F R Rear {} {} {} {}".format(
compass_positions['left'],
compass_positions['forward'],
compass_positions['right'],
compass_positions['backwards']))
# def turn_left():
# turnspeed = 50
# while DalekSensors.compass > (145+5):
# drive.spinLeft(turnspeed)
# time.sleep(.2)
# print(DalekSensors.compass)
# drive.stop()
# print("Stop")
# time.sleep(1)
# print(DalekSensors.compass)
# DalekSensors.stop_running()
if __name__ == "__main__":
main()
drive.stop()
head_controller.leds_change_color(head_controller.leds_color['off'])
drive.cleanup()
DalekSensors.stop_running()
def display_selected_challenge(current_challenge):
# Prints out the Challenge menu
# It is preformated.
os.system('clear')
head_controller.leds_change_color(head_controller.leds_color['red'])
head_controller.leds_flash(False)
debug.print_to_all_devices(
colored("\n\n\n\n Challenge Select \n", 'red'))
if current_challenge == 1:
debug.print_to_all_devices(
colored(" >>> Obstacle Course <<<", 'green'))
else:
debug.print_to_all_devices(" Obstacle Course")
if current_challenge == 2:
debug.print_to_all_devices(
colored(" >>> Straight-Line Speed Test <<<", 'green'))
head_controller.leds_change_color(head_controller.leds_color['green'])
head_controller.leds_flash(True)
else:
debug.print_to_all_devices(" Straight-Line Speed Test")
if current_challenge == 3:
debug.print_to_all_devices(
colored(" >>> Minimal Maze <<<", 'green'))
head_controller.leds_change_color(head_controller.leds_color['blue'])
head_controller.leds_flash(True)
else:
debug.print_to_all_devices(" Minimal Maze")
if current_challenge == 4:
debug.print_to_all_devices(
colored(" >>> Somewhere Over The Rainbow <<<", 'green'))
head_controller.leds_change_color(head_controller.leds_color['white'])
head_controller.leds_flash(True)
else:
debug.print_to_all_devices(" Somewhere Over The Rainbow")
if current_challenge == 5:
debug.print_to_all_devices(colored(" >>> PiNoon <<<", 'green'))
else:
debug.print_to_all_devices(" PiNoon")
if current_challenge == 6:
debug.print_to_all_devices(
colored(" >>> Duck Shoot <<<", 'green'))
else:
debug.print_to_all_devices(" Duck Shoot")
if current_challenge == 7:
debug.print_to_all_devices(
colored(" >>> Slightly Deranged Golf <<<", 'green'))
else:
debug.print_to_all_devices(" Slightly Deranged Golf")
debug.print_to_all_devices(
colored("\n Use UP and DOWN D-Pad Then Select", 'yellow'))
if current_challenge == 1: # output for onboard device
debug.print_to_all_devices("", "OC")
elif current_challenge == 2:
debug.print_to_all_devices("", "StL")
elif current_challenge == 3:
debug.print_to_all_devices("", "MM")
elif current_challenge == 4:
debug.print_to_all_devices("", "OR")
elif current_challenge == 5:
debug.print_to_all_devices("", "PN")
elif current_challenge == 6:
debug.print_to_all_devices("", "DS")
elif current_challenge == 7:
debug.print_to_all_devices("", "DG")
def use(dalek_settings, dalek_sounds):
head_controller.leds_change_color(head_controller.leds_color['green'])
# head_controller.leds_flash()
current_challenge = 1
# time.sleep(2)
# used for the main loop, when set to false this function ends.
using_controller = True
button_select_status = True
button_start_status = False
# start the battery status monitor in the background.
controller_battery_monitor = ps3_battery_checker.StatusMonitor()
controller_battery_monitor.start()
# this is the joystick file we stream data from.
jsdev = open("/dev/input/js0", 'rb')
joystickD_padCurrentButton = 0 # used for debounce of switches on d_pad.
# The Main Mode we are in
# 1 Drive mode
# 2 Challenge Select Mode
# 3 Exterminate Mode this mode does nothing so is standby and disables the paddles on
# the controller
ps3_ControllerMode = 1
tank_drive_on = True
leftPaddle = 0 # raw axis data
rightPaddle = 0 # raw axis data
# initialize the current_challenge_thread set it to a default so we don't get errors.
current_challenge_thread = straight_line.Challenge(dalek_settings,
dalek_sounds)
head_controller.head_no()
# head_controller.head_move_to_center()
head_controller.eye_move_to_center()
head_controller.leds_flash(False)
def check_for_finished_using_controller():
'''
If BOTH the select and the start buttons are pressed down together at same time,
then we end the main loop and return out of the function.
'''
nonlocal using_controller, controller_battery_monitor
# debug.print_to_all_devices("\n### start={}".format(button_start_status))
# debug.print_to_all_devices("### select={}".format(button_select_status))
if (button_select_status == True) and (button_start_status == True):
try:
os.system('clear')
stop_current_challenge()
controller_battery_monitor.stop_running()
controller_battery_monitor.join()
except:
print("error shutting down")
using_controller = False
# print("Exiting controller.py")
def stop_current_challenge():
nonlocal current_challenge_thread, tank_drive_on
if current_challenge_thread.running == True: # we are in a challenge
debug.print_to_all_devices("Quiting Challenge.")
current_challenge_thread.stop_running()
current_challenge_thread.join() # wait for thread to stop
tank_drive_on = True
debug.print_to_all_devices("Challenge has ended")
def challenge_select(value):
nonlocal current_challenge
number_of_challenges = 7
currentChallenge = current_challenge
if value == 0: # Up Button
if currentChallenge > 1:
currentChallenge -= 1
else:
currentChallenge = number_of_challenges
else: # Down Button
# so we dont exceed max number of missions
if number_of_challenges >= (currentChallenge + 1):
currentChallenge += 1
else:
currentChallenge = 1
current_challenge = currentChallenge
ui.display_selected_challenge(current_challenge)
###########################################################
### DPad Buttons on ps3 controller (Left hand buttons) ##
###########################################################
def dpad_up_button_pressed():
if ps3_ControllerMode == 2: # 2 Mission Select Mode
challenge_select(0)
elif ps3_ControllerMode == 1:
debug.print_to_all_devices('Forwards', "FW")
drive.forward(dalek_settings.speed)
else:
head_controller.eye_move_up()
def dpad_down_button_pressed():
if ps3_ControllerMode == 2: # 2 Mission Select Mode
challenge_select(1)
elif ps3_ControllerMode == 1:
debug.print_to_all_devices('Backwards', "BW")
drive.backward(dalek_settings.speed)
else:
head_controller.eye_move_down()
def dpad_right_button_pressed():
if ps3_ControllerMode == 1:
debug.print_to_all_devices('Spin Right', "SR")
drive.spinRight(dalek_settings.speed)
elif ps3_ControllerMode == 2:
debug.print_to_all_devices('Spin Right', "SR")
drive.spinRight(dalek_settings.speed)
else:
head_controller.head_move_right()
def dpad_left_button_pressed():
if ps3_ControllerMode == 1:
debug.print_to_all_devices('Spin Left', "SL")
drive.spinLeft(dalek_settings.speed)
elif ps3_ControllerMode == 2:
debug.print_to_all_devices('Spin Left', "SL")
drive.spinLeft(dalek_settings.speed)
else:
head_controller.head_move_left()
def dpad_button_pressed(value, number, _joystickD_padCurrentButton):
if (value == 0) and (number == _joystickD_padCurrentButton):
drive.stop()
if ps3_ControllerMode == 1:
debug.print_to_all_devices("Stop", "SP")
# Up button
else:
if number == 4:
if value: # value is 1 for pressed 0 for released.
dpad_up_button_pressed()
# Right button
elif number == 5:
if value:
dpad_right_button_pressed()
# Down button
elif number == 6:
if value:
dpad_down_button_pressed()
# Left button
elif number == 7:
if value:
dpad_left_button_pressed()
def tank_drive(_leftPaddle, _rightPaddle):
debug.print_to_all_devices("left: {} Right: {}".format(
_leftPaddle, _rightPaddle))
if (_leftPaddle == 0) and (_rightPaddle == 0):
drive.stop()
debug.clear()
elif (_leftPaddle < 0) and (_rightPaddle < 0):
drive.paddleForward(-_leftPaddle, -_rightPaddle)
# debug.print_to_all_devices("forwards","Fw")
elif (_leftPaddle > 0) and (_rightPaddle > 0):
drive.paddleBackward(_leftPaddle, _rightPaddle)
# debug.print_to_all_devices("Backwards", "Bw")
elif (_leftPaddle <= 0) and (_rightPaddle >= 0):
drive.turnForwardRight(-_leftPaddle, _rightPaddle)
# debug.print_to_all_devices("Spin Right", "SR")
elif (_leftPaddle >= 0) and (_rightPaddle <= 0):
drive.turnForwardLeft(_leftPaddle, -_rightPaddle)
# debug.print_to_all_devices("Spin Left", "SL")
###########################################################
### Symbol Buttons on the Controller ##
###########################################################
def button_circle_pressed():
if current_challenge_thread.running == True:
current_challenge_thread.button_circle_pressed()
def button_circle_released():
if current_challenge_thread.running == True:
current_challenge_thread.button_circle_released()
def button_square_pressed():
if current_challenge_thread.running == True:
current_challenge_thread.button_square_pressed()
else:
head_controller.leds_cycle_colors()
# dalek_sounds.play_sound("exterminate")
# debug.print_to_all_devices("Exterminate...")
def button_square_released():
if current_challenge_thread.running == True:
current_challenge_thread.button_square_released()
def button_triangle_pressed():
if current_challenge_thread.running == True:
current_challenge_thread.button_triangle_pressed()
else:
head_controller.leds_toggle_flash()
# dalek_sounds.play_sound("Stay")
# debug.print_to_all_devices("Triangle Button Pressed")
def button_triangle_released():
if current_challenge_thread.running == True:
current_challenge_thread.button_triangle_released()
def button_cross_pressed():
if current_challenge_thread.running == True:
current_challenge_thread.button_cross_pressed()
# dalek_sounds.play_sound("Time is right")
# debug.print_to_all_devices("Cross Button Pressed")
def button_cross_released():
if current_challenge_thread.running == True:
current_challenge_thread.button_cross_released()
###########################################################
### Lower Buttons on the Controller ##
###########################################################
def button_L1_pressed():
if current_challenge_thread.running == True:
current_challenge_thread.button_L1_pressed()
else:
head_controller.head_move_left_90deg()
def button_L1_released():
if current_challenge_thread.running == True:
current_challenge_thread.button_L1_released()
else:
head_controller.head_stop()
def button_L2_pressed():
if current_challenge_thread.running == True:
current_challenge_thread.button_L2_pressed()
else:
head_controller.eye_move_to_bottom()
# dalek_sounds.decreese_volume_level()
# debug.print_to_all_devices("L2 Button Pressed" , "L2")
def button_L2_released():
if current_challenge_thread.running == True:
current_challenge_thread.button_L2_released()
else:
head_controller.eye_stop()
def button_R1_pressed():
if current_challenge_thread.running == True:
current_challenge_thread.button_R1_pressed()
else:
head_controller.head_move_right_90deg()
def button_R1_released():
if current_challenge_thread.running == True:
current_challenge_thread.button_R1_released()
else:
head_controller.head_stop()
def button_R2_pressed():
if current_challenge_thread.running == True:
current_challenge_thread.button_R2_pressed()
else:
head_controller.eye_move_to_top()
# dalek_sounds.increese_volume_level()
# debug.print_to_all_devices("R2 Button Pressed", "R2" )
def button_R2_released():
if current_challenge_thread.running == True:
current_challenge_thread.button_R2_released()
else:
head_controller.eye_stop()
###########################################################
### Main Buttons on the Controller ##
###########################################################
def button_select_pressed(ps3_controller_mode):
nonlocal current_challenge_thread, button_select_status, tank_drive_on
# uses for shuting down the program safely
button_select_status = True
check_for_finished_using_controller()
if ps3_controller_mode == 2: # Challenge Select Mode
ui.you_selected_challenge(current_challenge)
if current_challenge == 1: # output for onboard device
debug.print_to_all_devices("TODO: Obstacle Course")
elif current_challenge == 2:
os.system('clear') # clear the stout
tank_drive_on = False
current_challenge_thread = straight_line.Challenge(
dalek_settings, dalek_sounds)
current_challenge_thread.start()
elif current_challenge == 3:
debug.print_to_all_devices("TODO: Minimal Maze")
elif current_challenge == 4: # somewhere_over_the_rainbow
os.system('clear') # clear the stout
tank_drive_on = False
current_challenge_thread = somewhere_over_the_rainbow.Challenge(
dalek_settings, dalek_sounds)
current_challenge_thread.start()
elif current_challenge == 5:
debug.print_to_all_devices("TODO: PiNoon")
elif current_challenge == 6:
os.system('clear') # clear the stout
current_challenge_thread = the_duck_shoot.Challenge(
dalek_settings, dalek_sounds)
current_challenge_thread.start()
# current_challenge_thread.join()
elif current_challenge == 7:
tank_drive_on = True
os.system('clear')
current_challenge_thread = slightly_deranged_golf.Challenge(
dalek_settings, dalek_sounds)
current_challenge_thread.start()
def button_select_released(ps3_controller_mode):
nonlocal button_select_status
button_select_status = False
# debug.print_to_all_devices("select={}".format(button_select_status))
return 1 # resets ps3_ControllerMode to Drive Mode
def button_start_pressed():
nonlocal button_start_status
button_start_status = True
if current_challenge_thread.running == True:
current_challenge_thread.button_start_pressed()
check_for_finished_using_controller()
# debug.print_to_all_devices("Start Button Pressed")
def button_start_released():
nonlocal button_start_status
button_start_status = False
# debug.print_to_all_devices("Start button on={}".format(button_start_status))
def button_PS3(_ps3_ControllerMode):
nonlocal current_challenge_thread, tank_drive_on
# # change the controller Mode.
_ps3_ControllerMode += 1
if _ps3_ControllerMode == 1:
tank_drive_on = True
os.system('clear')
debug.print_to_all_devices("You are in Drive Mode ", "-D")
head_controller.leds_change_color(
head_controller.leds_color['green'])
head_controller.leds_flash(False)
elif _ps3_ControllerMode == 2:
stop_current_challenge()
ui.display_selected_challenge(current_challenge)
tank_drive_on = False
elif _ps3_ControllerMode == 3:
tank_drive_on = True
_ps3_ControllerMode = 0
os.system('clear')
debug.print_to_all_devices("You are in Exterminate Mode", "-E")
return _ps3_ControllerMode
###########################################################
### paddle Buttons on the Controller ##
###########################################################
def button_left_paddle():
# debug.print_to_all_devices("Left Paddle Button Pressed")
head_controller.leds_cycle_colors()
def button_right_paddle():
# debug.print_to_all_devices("Right Paddle Button Pressed")
head_controller.leds_toggle_flash()
#####################################################################
### Main loop ##
### this is where we read the data from the joystick file/device ##
#####################################################################
while using_controller:
# read 8 bits from the event buffer.
event_buffer = jsdev.read(8)
if event_buffer:
time, value, type, number = struct.unpack('IhBB', event_buffer)
# Button pressed event
if type & 0x01:
########################
# D-Pad button pressed #
########################
if (number >= 4) and (number <= 7):
dpad_button_pressed(value, number,
joystickD_padCurrentButton)
# only change current button when it is pressed not released
if value:
joystickD_padCurrentButton = number
#########################
# All buttons NOT D-pad #
#########################
# Select button
elif number == 0:
if value:
button_select_pressed(ps3_ControllerMode)
else:
ps3_ControllerMode = button_select_released(
ps3_ControllerMode)
# Right paddle button
elif number == 1:
if value:
button_right_paddle()
# Left Paddle button
elif number == 2:
if value:
button_left_paddle()
# Start Paddle button
elif number == 3:
if value:
button_start_pressed()
else:
button_start_released()
# L2 button
elif number == 8:
if value:
button_L2_pressed()
else:
button_L2_released()
# R2 button
elif number == 9:
if value:
button_R2_pressed()
else:
button_R1_released()
# L1 button
elif number == 10:
if value:
button_L1_pressed()
else:
button_L1_released()
# R1 button
elif number == 11:
if value:
button_R1_pressed()
else:
button_R1_released()
# triangle button
elif number == 12:
if value:
button_triangle_pressed()
else:
button_triangle_released()
# circle button
elif number == 13:
if value:
button_circle_pressed()
else:
button_circle_released()
# Cross button
elif number == 15:
if value:
button_square_pressed()
else:
button_square_released()
# Cross button
elif number == 14:
if value:
button_cross_pressed()
else:
button_cross_released()
# PS3 button
elif number == 16:
if value:
ps3_ControllerMode = button_PS3(ps3_ControllerMode)
else:
pass
# debug.print_to_all_devices("you pressed {}" .format(number))
# Axis movement event
elif type & 0x02:
pass
# debug.print_to_all_devices('number{}'.format(number))
# Tank mode
if tank_drive_on == True:
if number == 1:
leftPaddle = int(value / 327.67)
tank_drive(leftPaddle, rightPaddle)
elif number == 3:
# debug.print_to_all_devices("right side..")
rightPaddle = int(value / 327.67)
tank_drive(leftPaddle, rightPaddle)
# we have finished so clean up
jsdev.close()
def start(speed=80):
head_controller.leds_change_color(head_controller.leds_color['green'])
current_challenge = 1
# used for the main loop, when set to false this function ends.
using_controller = True
button_select_status = True
button_start_status = False
jsdev = open("/dev/input/js0", 'rb')
joystickD_padCurrentButton = 0 # used for debounce of switches on d_pad.
# if set to false thumbsticks do not work
tank_drive_on = True
leftPaddle = 0 # raw axis data
rightPaddle = 0 # raw axis data
# animation of head
# lets us know things are ok
head_controller.head_no()
# head_controller.head_move_to_center()
head_controller.eye_move_to_center()
head_controller.leds_flash(False)
def check_for_finished_using_controller():
'''
If BOTH the select and the start buttons are pressed down together at same time,
then we end the main loop and return out of the function.
'''
nonlocal using_controller # , controller_battery_monitor
if (button_select_status == True) and (button_start_status == True):
try:
os.system('clear')
# stop_current_challenge()
except:
print("error shutting down")
using_controller = False
###########################################################
### DPad Buttons on ps3 controller (Left hand buttons) ##
###########################################################
def dpad_up_button_pressed():
# drive.forward(speed)
head_controller.eye_move_to_top()
# def dpad_up_button_released():
# head_controller.eye_stop()
def dpad_down_button_pressed():
# drive.backward(speed)
head_controller.eye_move_to_bottom()
# def dpad_down_button_released():
# head_controller.eye_stop()
def dpad_right_button_pressed():
# drive.spinRight(speed)
head_controller.head_move_right_90deg()
# def dpad_right_button_released():
# head_controller.head_stop()
def dpad_left_button_pressed():
# drive.spinLeft(speed)
head_controller.head_move_left_90deg()
# def dpad_left_button_released():
# head_controller.head_stop()
# do not change below use the functions above.
def dpad_button_pressed(value, number, _joystickD_padCurrentButton):
if (value == 0) and (number == _joystickD_padCurrentButton):
drive.stop()
# Up button
else:
if number == 4:
if value: # value is 1 for pressed 0 for released.
dpad_up_button_pressed()
# else:
# dpad_up_button_released()
# Right button
elif number == 5:
if value:
dpad_right_button_pressed()
# else:
# dpad_right_button_released()
# Down button
elif number == 6:
if value:
dpad_down_button_pressed()
# else:
# dpad_down_button_released()
# Left button
elif number == 7:
if value:
dpad_left_button_pressed()
# else:
# dpad_left_button_released()
def tank_drive(_leftPaddle, _rightPaddle):
debug.print_to_all_devices("left: {} Right: {}".format(
_leftPaddle, _rightPaddle))
if (_leftPaddle == 0) and (_rightPaddle == 0):
drive.stop()
debug.clear()
elif (_leftPaddle < 0) and (_rightPaddle < 0):
drive.paddleForward(-_leftPaddle, -_rightPaddle)
# debug.print_to_all_devices("forwards","Fw")
elif (_leftPaddle > 0) and (_rightPaddle > 0):
drive.paddleBackward(_leftPaddle, _rightPaddle)
# debug.print_to_all_devices("Backwards", "Bw")
elif (_leftPaddle <= 0) and (_rightPaddle >= 0):
drive.turnForwardRight(-_leftPaddle, _rightPaddle)
# debug.print_to_all_devices("Spin Right", "SR")
elif (_leftPaddle >= 0) and (_rightPaddle <= 0):
drive.turnForwardLeft(_leftPaddle, -_rightPaddle)
# debug.print_to_all_devices("Spin Left", "SL")
###########################################################
### Symbol Buttons on the Controller ##
###########################################################
def button_circle_pressed():
print("circle Pressed")
def button_circle_released():
pass
def button_square_pressed():
print("square Pressed")
head_controller.leds_cycle_colors()
def button_square_released():
pass
def button_triangle_pressed():
print("triangle Pressed")
head_controller.leds_toggle_flash()
def button_triangle_released():
pass
def button_cross_pressed():
print("cross Pressed")
pass
def button_cross_released():
pass
###########################################################
### Lower Buttons on the Controller ##
###########################################################
def button_L1_pressed():
head_controller.head_move_left_90deg()
print("l1 Pressed")
def button_L1_released():
head_controller.head_stop()
def button_L2_pressed():
head_controller.eye_move_to_bottom()
print("l2 Pressed")
def button_L2_released():
head_controller.eye_stop()
def button_R1_pressed():
head_controller.head_move_right_90deg()
print("R1 Pressed")
def button_R1_released():
head_controller.head_stop()
def button_R2_pressed():
head_controller.eye_move_to_top()
print("R2 Pressed")
def button_R2_released():
head_controller.eye_stop()
###########################################################
### Main Buttons on the Controller ##
###########################################################
def button_select_pressed():
nonlocal button_select_status, tank_drive_on
# uses for shuting down the program safely
button_select_status = True
check_for_finished_using_controller()
def button_select_released():
nonlocal button_select_status
button_select_status = False
return 1 # resets ps3_ControllerMode to Drive Mode
def button_start_pressed():
nonlocal button_start_status
button_start_status = True
check_for_finished_using_controller()
def button_start_released():
nonlocal button_start_status
button_start_status = False
def button_PS3():
nonlocal tank_drive_on
pass
###########################################################
### paddle Buttons on the Controller ##
###########################################################
def button_left_paddle():
# debug.print_to_all_devices("Left Paddle Button Pressed")
head_controller.leds_cycle_colors()
def button_right_paddle():
# debug.print_to_all_devices("Right Paddle Button Pressed")
head_controller.leds_toggle_flash()
#####################################################################
### Main loop ##
### this is where we read the data from the joystick file/device ##
#####################################################################
while using_controller:
# read 8 bits from the event buffer.
event_buffer = jsdev.read(8)
if event_buffer:
time, value, type, number = struct.unpack('IhBB', event_buffer)
# Button pressed event
if type & 0x01:
########################
# D-Pad button pressed #
########################
if (number >= 4) and (number <= 7):
dpad_button_pressed(value, number,
joystickD_padCurrentButton)
# only change current button when it is pressed not released
if value:
joystickD_padCurrentButton = number
#########################
# All buttons NOT D-pad #
#########################
# Select button
elif number == 0:
if value:
button_select_pressed()
else:
button_select_released()
# Right paddle button
elif number == 1:
if value:
button_right_paddle()
# Left Paddle button
elif number == 2:
if value:
button_left_paddle()
# Start Paddle button
elif number == 3:
if value:
button_start_pressed()
else:
button_start_released()
# L2 button
elif number == 8:
if value:
button_L2_pressed()
else:
button_L2_released()
# R2 button
elif number == 9:
if value:
button_R2_pressed()
else:
button_R1_released()
# L1 button
elif number == 10:
if value:
button_L1_pressed()
else:
button_L1_released()
# R1 button
elif number == 11:
if value:
button_R1_pressed()
else:
button_R1_released()
# triangle button
elif number == 12:
if value:
button_triangle_pressed()
else:
button_triangle_released()
# circle button
elif number == 13:
if value:
button_circle_pressed()
else:
button_circle_released()
# Cross button
elif number == 15:
if value:
button_square_pressed()
else:
button_square_released()
# Cross button
elif number == 14:
if value:
button_cross_pressed()
else:
button_cross_released()
# PS3 button
elif number == 16:
if value:
button_PS3()
else:
pass
# debug.print_to_all_devices("you pressed {}" .format(number))
# Axis movement event
elif type & 0x02:
pass
# debug.print_to_all_devices('number{}'.format(number))
# Tank mode
if tank_drive_on == True:
if number == 1:
leftPaddle = int(value / 327.67)
tank_drive(leftPaddle, rightPaddle)
elif number == 3:
# debug.print_to_all_devices("right side..")
rightPaddle = int(value / 327.67)
tank_drive(leftPaddle, rightPaddle)
# we have finished so clean up
jsdev.close()
