def _load_joysticks( self, *args ): #Clear existing state graphics for i in xrange( self.num_joysticks ): self.states[i].clear() #Clear current list of joysticks self.joysticks = [] self.states = [] self.active_joysticks = [False] * 4 self.active_players = [False] * 4 #Reinitialize pygame.joystick to update joystick information js.quit() js.init() self.num_joysticks = js.get_count() #Create Joystick instance for each physical joystick for i in xrange( self.num_joysticks ): self.joysticks.append( js.Joystick( i ) ) self.joysticks[i].init() #Draw state information for i in xrange( self.num_joysticks ): self.states.append( ControllerState( i, self.graphics ) ) self.states[i].update(self.active_joysticks[i], self.active_players[i] )
def refresh(self):
"""
Finds all connected gamepads. Must be called at the start of the run loop if there has been a change.
Will uninitialize and then initialize the joystick module
"""
if self.joystick:
self.joystick.quit()
self.joystick = None
joystick.quit()
joystick.init()
joyDictList = self.get_all_gamepads() # Must be fetched before initializing the ID, since otherwise we delete that ID afterwards, apparently the objects here are global!
self.initialize(clamp(self.joystick_id, 0, maxVal((joystick.get_count() - 1), 0)))
self.refreshedGamepad.emit(joyDictList)
self.statusChanged.emit(self.joystick.get_init() if self.joystick else False)
def destroy(self):
eng.detach_obs(self.on_frame)
joystick.quit()
pygame.quit()
self.joysticks = None
JoystickMgrBase.destroy(self)
if not accel:
print "No accelerator device found. Exiting..."
exit(1)
def rotate(orientation):
print "Rotate " + orientation
os.system('rotate %s &' % orientation)
return orientation
orientation = rotate("inverted")
while True:
time.sleep(0.5)
for ev in event.get():
if ev.type == QUIT:
joystick.quit()
pygame.quit()
exit(0)
if ev.type == JOYAXISMOTION:
axis_x = accel.get_axis(0)
axis_y = accel.get_axis(1)
axis_z = accel.get_axis(2)
if (axis_x > 0.25) and (orientation != "left"):
orientation=rotate("left")
elif (axis_x < -0.2) and (orientation != "right"):
orientation=rotate("right")
elif (axis_x < 0.3) and (axis_x > -0.2) and (axis_y < -0.1) and (orientation != "normal"):
orientation=rotate("normal")
elif (axis_x < 0.3) and (axis_x > -0.2) and (axis_y > 0.3) and (orientation != "inverted"):
orientation=rotate("inverted")
if loggingEnabled:
# csvwriter.writerow(['time'] + ['deltaTimeMs']+['angle'] + ['position'] + ['angleErr'] + ['positionErr'] + ['angleCmd'] + ['positionCmd'] + ['motorCmd'])
csvwriter.writerow([
elapsedTime, deltaTime * 1000, angle, position, ANGLE_TARGET,
angleErr, positionTargetNow, positionErr, angleCmd, positionCmd,
motorCmd, actualMotorCmd
])
# Print output
printCount += 1
if printCount >= (PRINT_PERIOD_MS / CONTROL_PERIOD_MS):
printCount = 0
print(
"\r angle {:+4d} angleErr {:+6.1f} position {:+6d} positionErr {:+6.1f} angleCmd {:+6d} positionCmd {:+6d} motorCmd {:+6d} dt {:.3f}ms stick {:.3f} \r"
.format(int(angle), angleErr, int(position), positionErr,
int(round(angleCmd)), int(round(positionCmd)),
actualMotorCmd, deltaTime * 1000, stickPos),
end='')
# if we pause like below, state info piles up in serial input buffer
# instead loop at max possible rate to get latest state info
# time.sleep(CONTROL_PERIOD_MS*.001) # not quite correct since there will be time for execution below
# when x hit during loop or other loop exit
p.set_motor(0) # turn off motor
p.close()
joystick.quit()
if loggingEnabled:
csvfile.close()
