print format % tuple(vs_l)
def print_help():
print "R1: Depth up R2: Depth down"
print "Button1: Zero thrusters Button3: Print variables"
print "Button4: Emergency breech (requires confirmation)"
print "Left Joystick: Navigate"
print "Button9: Help Button10: Quit"
print
sw.loadConfig("../conf/seawolf.conf")
sw.init("Joystick Controller")
yaw_heading = sw3.data.imu.yaw()
devices = joystick.get_devices()
if len(devices) == 0:
sys.stderr.write("No joysticks found\n")
sys.exit(1)
depth_heading = 0
forward_heading = 0
rate_limiter = ratelimit.RateLimiter(10, update_axis)
js = joystick.Joystick(devices[0], joystick.LOGITECH)
print_help()
while True:
event = js.poll()
if isinstance(event, joystick.Axis):
for vs in values:
vs_l = reduce(lambda x, y: x + list(y), zip(max_widths, vs), [])
print format % tuple(vs_l)
def print_help():
print "Look at the button labels for help."
print
sw.loadConfig("../conf/seawolf.conf")
sw.init("Steering Wheel Controller")
yaw_heading = sw3.data.imu.yaw()
devices = joystick.get_devices()
if len(devices) == 0:
sys.stderr.write("No joysticks found\n")
sys.exit(1)
depth_heading = 0
rate_limiter = ratelimit.RateLimiter(10, update_axis)
js = joystick.Joystick(devices[0], joystick.STEERINGWHEEL)
print_help()
while True:
event = js.poll()
if isinstance(event, joystick.Axis):
if event.name == "wheelAndThrottle":
def main():
sw.loadConfig("../conf/seawolf.conf")
sw.init("Joystick Controller")
# parse arguments
global DEPTH_HOLD
global ORIENTATION_HOLD
parser = setup_parser()
args = parser.parse_args()
joystick_name = args.selected_controller
DEPTH_HOLD = args.depth_hold
ORIENTATION_HOLD= args.orientation_hold
# get heading initial heading values
yaw_heading = sw3.data.imu.yaw()
depth_heading = 0
forward_heading = 0
# instantiate pnuematics controller
peripheral = Peripherals()
# instantiate joystick class
devices = joystick.get_devices()
if len(devices) == 0:
sys.stderr.write("No joysticks found\n")
sys.exit(1)
js = joystick.Joystick(devices[0], joystick.LOGITECH)
# attach functions to analog sticks
Lrate_limiter = ratelimit.RateLimiter(10, update_Laxis)
Rrate_limiter = ratelimit.RateLimiter(10, update_Raxis)
# splash screen usage-prints
print_help()
peripheral.printActive()
while True:
event = js.poll()
if isinstance(event, joystick.Axis):
if (event.name == "leftStick") :
Lrate_limiter.provide(event)
elif (event.name=="rightStick"):
Rrate_limiter.provide(event)
elif event.name == "hat":
if event.x < 0:
# yaw_heading = sw3.util.add_angle(yaw_heading, -2.5)
# sw3.pid.yaw.heading = yaw_heading
pass
elif event.x > 0:
# yaw_heading = sw3.util.add_angle(yaw_heading, 2.5)
# sw3.pid.yaw.heading = yaw_heading
pass
elif event.y < 0:
# forward_heading = FORWARD_SPEED
# sw3.nav.do(sw3.Forward(forward_heading))
pass
elif event.y > 0:
# forward_heading = -FORWARD_SPEED
# sw3.nav.do(sw3.Forward(forward_heading))
pass
else:
# forward_heading = 0
# sw3.nav.do(sw3.Forward(forward_heading))
pass
elif event.value == 1:
if event.name == "button1":
print "Zeroing thrusters (and depth heading)"
sw3.nav.do(sw3.ZeroThrusters())
depth_heading = 0
elif event.name == "button2":
peripheral.fire()
elif event.name == "button3":
variables = "Depth", "DepthPID.Heading", "SEA.Yaw", "YawPID.Heading"
print_table(variables, ["%.2f" % sw.var.get(v) for v in variables])
print
variables = "Port", "Star", "Bow", "Stern", "StrafeT", "StrafeB"
print_table(variables, ["%.2f" % sw.var.get(v) for v in variables])
print
elif event.name == "button4":
while js.poll().name != "button4":
pass
print "Press again to confirm breech"
if js.poll().name == "button4":
print "Breeching!"
sw3.nav.do(sw3.EmergencyBreech())
depth_heading = 0
else:
print "Canceled."
elif event.name == "button5":
peripheral.next()
peripheral.printActive()
elif event.name == "button6":
if DEPTH_HOLD:
depth_heading = max(0, depth_heading - 0.50)
sw3.pid.depth.heading = depth_heading
else:
print("Depth holding disabled!!! ignoring depth-change command.")
elif event.name == "button7":
peripheral.prev()
peripheral.printActive()
elif event.name == "button8":
if DEPTH_HOLD:
depth_heading = min(16, depth_heading + 0.50)
sw3.pid.depth.heading = depth_heading
else:
print("Depth holding disabled!!! ignoring depth-change command.")
elif event.name == "button9":
print_help()
elif event.name == "button10":
print "Quitting"
sw3.nav.do(sw3.ZeroThrusters())
break
elif event.name == "leftStickButton":
if ORIENTATION_HOLD:
print "Reseting Orientation"
thruster_request('Yaw', 0, hold_orientation=True)
thruster_request('Pitch', 0, hold_orientation=True, auto_level=True)
thruster_request('Roll', 0, hold_orientation=True, auto_level=True)
sw.close()
def main():
sw.loadConfig("../conf/seawolf.conf")
sw.init("Joystick Controller")
yaw_heading = sw3.data.imu.yaw()
devices = joystick.get_devices()
peripheral = Peripherals()
if len(devices) == 0:
sys.stderr.write("No joysticks found\n")
sys.exit(1)
depth_heading = 0
forward_heading = 0
Lrate_limiter = ratelimit.RateLimiter(10, update_Laxis)
Rrate_limiter = ratelimit.RateLimiter(10, update_Raxis)
js = joystick.Joystick(devices[0], joystick.LOGITECH)
print_help()
peripheral.printActive()
while True:
event = js.poll()
if isinstance(event, joystick.Axis):
if (event.name == "leftStick") :
Lrate_limiter.provide(event)
elif (event.name=="rightStick"):
Rrate_limiter.provide(event)
elif event.name == "hat":
if event.x < 0:
yaw_heading = sw3.util.add_angle(yaw_heading, -2.5)
sw3.pid.yaw.heading = yaw_heading
elif event.x > 0:
yaw_heading = sw3.util.add_angle(yaw_heading, 2.5)
sw3.pid.yaw.heading = yaw_heading
elif event.y < 0:
forward_heading = FORWARD_SPEED
sw3.nav.do(sw3.Forward(forward_heading))
elif event.y > 0:
forward_heading = -FORWARD_SPEED
sw3.nav.do(sw3.Forward(forward_heading))
else:
forward_heading = 0
sw3.nav.do(sw3.Forward(forward_heading))
elif event.value == 1:
if event.name == "button8":
depth_heading = min(8, depth_heading + 0.50)
sw3.pid.depth.heading = depth_heading
elif event.name == "button6":
depth_heading = max(0, depth_heading - 0.50)
sw3.pid.depth.heading = depth_heading
elif event.name == "button1":
print "Zeroing thrusters"
sw3.nav.do(sw3.ZeroThrusters())
depth_heading = 0
elif event.name == "button4":
while js.poll().name != "button4":
pass
print "Press again to confirm breech"
if js.poll().name == "button4":
print "Breeching!"
sw3.nav.do(sw3.EmergencyBreech())
depth_heading = 0
else:
print "Canceled."
elif event.name == "button9":
print_help()
elif event.name == "button3":
variables = "Depth", "DepthPID.Heading", "SEA.Yaw", "YawPID.Heading"
print_table(variables, ["%.2f" % sw.var.get(v) for v in variables])
print
variables = "Port", "Star", "Bow", "Stern", "StrafeT", "StrafeB"
print_table(variables, ["%.2f" % sw.var.get(v) for v in variables])
print
elif event.name == "button10":
print "Quitting"
sw3.nav.do(sw3.ZeroThrusters())
break
elif event.name == "button5":
peripheral.next()
peripheral.printActive()
elif event.name == "button7":
peripheral.prev()
peripheral.printActive()
elif event.name == "button2":
peripheral.fire()
sw.close()
def main():
sw.loadConfig("../conf/seawolf.conf")
sw.init("Joystick Controller")
# parse arguments
global DEPTH_HOLD
global ORIENTATION_HOLD
parser = setup_parser()
args = parser.parse_args()
joystick_name = args.selected_controller
DEPTH_HOLD = args.depth_hold
ORIENTATION_HOLD = args.orientation_hold
# get heading initial heading values
yaw_heading = sw3.data.imu.yaw()
depth_heading = 0
forward_heading = 0
# instantiate pnuematics controller
peripheral = Peripherals()
# instantiate joystick class
devices = joystick.get_devices()
if len(devices) == 0:
sys.stderr.write("No joysticks found\n")
sys.exit(1)
js = joystick.Joystick(devices[0], joystick.LOGITECH)
# attach functions to analog sticks
Lrate_limiter = ratelimit.RateLimiter(10, update_Laxis)
Rrate_limiter = ratelimit.RateLimiter(10, update_Raxis)
# splash screen usage-prints
print_help()
peripheral.printActive()
while True:
event = js.poll()
if isinstance(event, joystick.Axis):
if (event.name == "leftStick"):
Lrate_limiter.provide(event)
elif (event.name == "rightStick"):
Rrate_limiter.provide(event)
elif event.name == "hat":
if event.x < 0:
# yaw_heading = sw3.util.add_angle(yaw_heading, -2.5)
# sw3.pid.yaw.heading = yaw_heading
pass
elif event.x > 0:
# yaw_heading = sw3.util.add_angle(yaw_heading, 2.5)
# sw3.pid.yaw.heading = yaw_heading
pass
elif event.y < 0:
# forward_heading = FORWARD_SPEED
# sw3.nav.do(sw3.Forward(forward_heading))
pass
elif event.y > 0:
# forward_heading = -FORWARD_SPEED
# sw3.nav.do(sw3.Forward(forward_heading))
pass
else:
# forward_heading = 0
# sw3.nav.do(sw3.Forward(forward_heading))
pass
elif event.value == 1:
if event.name == "button1":
print "Zeroing thrusters (and depth heading)"
sw3.nav.do(sw3.ZeroThrusters())
depth_heading = 0
elif event.name == "button2":
peripheral.fire()
elif event.name == "button3":
variables = "Depth", "DepthPID.Heading", "SEA.Yaw", "YawPID.Heading"
print_table(variables,
["%.2f" % sw.var.get(v) for v in variables])
print
variables = "Port", "Star", "Bow", "Stern", "StrafeT", "StrafeB"
print_table(variables,
["%.2f" % sw.var.get(v) for v in variables])
print
elif event.name == "button4":
while js.poll().name != "button4":
pass
print "Press again to confirm breech"
if js.poll().name == "button4":
print "Breeching!"
sw3.nav.do(sw3.EmergencyBreech())
depth_heading = 0
else:
print "Canceled."
elif event.name == "button5":
peripheral.next()
peripheral.printActive()
elif event.name == "button6":
if DEPTH_HOLD:
depth_heading = max(0, depth_heading - 0.50)
sw3.pid.depth.heading = depth_heading
else:
print(
"Depth holding disabled!!! ignoring depth-change command."
)
elif event.name == "button7":
peripheral.prev()
peripheral.printActive()
elif event.name == "button8":
if DEPTH_HOLD:
depth_heading = min(16, depth_heading + 0.50)
sw3.pid.depth.heading = depth_heading
else:
print(
"Depth holding disabled!!! ignoring depth-change command."
)
elif event.name == "button9":
print_help()
elif event.name == "button10":
print "Quitting"
sw3.nav.do(sw3.ZeroThrusters())
break
elif event.name == "leftStickButton":
if ORIENTATION_HOLD:
print "Reseting Orientation"
thruster_request('Yaw', 0, hold_orientation=True)
thruster_request('Pitch',
0,
hold_orientation=True,
auto_level=True)
thruster_request('Roll',
0,
hold_orientation=True,
auto_level=True)
sw.close()
