def __init__(self, master):
# create GUI
self.master = master
self.master.title('JoyStick Test')
label = tk.Label(root, text='Joystick')
label.pack()
self.gui = GuiJs(master=root)
self.gui.createCordinateLabelJs1()
self.gui.createCordinateLabelJs2()
self.gui.createCircleJs1(200, 200, 220, 220, 'red')
self.gui.createButton(btn_name='Finish', callback=self.cleanup)
self.gui.createCircleJs2(200, 200, 220, 220, 'blue')
#JoyStick instanse
self.js1 = JoyStick(0, 3, 27)
self.val_vert1 = 0
self.val_horz1 = 0
self.move_vert1 = 0
self.move_horz1 = 0
self.js2 = JoyStick(7, 4, 22)
self.val_vert2 = 0
self.val_horz2 = 0
self.move_vert2 = 0
self.move_horz2 = 0
#ServMotor
#self.servo= ServMotor(18,180,0)
#self.servo = I2cServo()
# Led instance
self.Led = Led(17)
def __init__(self, master):
# create GUI
self.gpio = pigpio.pi()
self.master = master
self.master.title('JoyStick Test')
label = tk.Label(root, text='Joystick')
label.pack()
self.gui = GuiRarm(master=root)
self.gui.createCordinateLabelServo()
self.gui.createButton(btn_name='Finish', callback=self.cleanup)
#self.gui.createCircleJs2(200,200,220,220,'blue')
#JoyStick instanse
self.jsR = JoyStick(-1, 4, 27)
self.val_horz = 0
#self.jsL = JoyStick(7,4,22)
self.jsL = JoyStick(2, -1, 22)
self.val_vert = 0
#Volume instance
self.vol = Volume(6)
self.val_vol = 0
self.vol_sum = 0
self.sampleCount = 0
#ServMotor
#self.servo= ServMotor(18,180,0)
self.servo = I2cServo()
#PWM Freq: 60Hz
self.servo.setPWMFreq(60)
# Led instance
self.Led = Led(4)
self.Led.setLedOn()
# PowrSw
self.PowSw = Sw(17, pud='pudup')
self.PowSwCont = 0
def main():
brick.sound.beep()
joystickEvent = detectJoystick(['Controller'])
if joystickEvent:
robot = Robot(Motor(Port.D), Motor(Port.A), Motor(Port.B), 55, 200)
t = threading.Thread(target=autoStopLoop, args=(robot, ))
t.start()
def onButtonPressed(code):
if code == BUTTON_X:
robot.inactive()
return False
if code == BUTTON_A:
robot.fire()
return True
def onLeftJoyChanged(x, y):
robot.drive(x, y)
def onRightJoyChanged(x, y):
robot.target(x)
joystick = JoyStick(joystickEvent)
joystick.setButtonHandler(onButtonPressed)
joystick.setJoyLeftHandler(onLeftJoyChanged)
joystick.setJoyRightHandler(onRightJoyChanged)
joystick.startLoop()
else:
brick.sound.beep()
def __init__(self,master):
# create GUI
self.master = master
self.master.title('JoyStick Test')
label = tk.Label(root,text='Joystick')
label.pack()
self.gui = GuiJs(master=root)
self.gui.createCordinateLabel()
self.gui.createCircle(200,200,220,220,'red')
self.gui.createButton(btn_name='Finish',callback=self.cleanup)
#JoyStick instanse
self.js = JoyStick()
self.val_vert = 0
self.val_horz = 0
self.move_vert = 0
self.move_horz = 0
#ServMotor
self.sm= ServMotor(18,180,0)
# Led instance
self.Led = Led(17)
self.Sw = Sw(4,'either',self.callback_Sw)
# draw.line((center, (center[0]+coordinates[0]*radius/rescale,center[1]-coordinates[1]*radius/rescale)), fill=255)
# print(coordinates)
circleCenter = (center[0] + coordinates[0] * radius / 2,
center[1] - coordinates[1] * radius / 2)
smallRadius = radius / 3.0
draw.ellipse(
(circleCenter[0] - smallRadius, circleCenter[1] - smallRadius,
circleCenter[0] + smallRadius, circleCenter[1] + smallRadius),
outline=255)
#draw.ellipse((center[0]+coordinates[0]*radius/rescale,center[1]-coordinates[1]*radius/rescale)), fill=255)
screen = Screen()
servos = [Servo(channel) for channel in [0, 1, 2, 3]]
joyStick1 = JoyStick(1, JoyStick.Address_Ox48, [1, 0], 4)
joyStick2 = JoyStick(1, JoyStick.Address_Ox48, [3, 2], 17)
robot = Robot()
for servo in servos:
servo.set_angle(90)
def applyPosition(servo, joyStick, axis, multiplier=1):
position = joyStick.last_position[axis]
print(position)
threshhold = 0.11
if position > threshhold or position < -threshhold:
servo.go_to_angle(servo.angle + robot.speed * multiplier * position)
return True
from __future__ import division
from __future__ import print_function
import sys
sys.path.append('..')
from joystick import JoyStick
from servo import ServoController
if __name__ == '__main__':
sc = ServoController(angle_range=80)
js = JoyStick()
while True:
# read serial
v = js.read()
# convert to servo angle
angle = sc.analog2deg(v)
print(angle)
for i in range(len(angle)):
sc.control([i, angle[i]])
