def __init__(self):
self.output_topic = rospy.get_param('~output_topic', '/cmd_vel')
self.joy_UID = rospy.get_param('~tinkerforge_joy_UID', 'waz')
self.tinkerforge_host = rospy.get_param('~tinkerforge_host',
'localhost')
self.tinkerforge_port = rospy.get_param('~tinkerforge_port', 4223)
self.actual_steering = 0
self.pub = rospy.Publisher(self.output_topic, Twist, queue_size=1)
self.ipcon = IPConnection() # Create IP connection
self.joy = BrickletJoystick(self.joy_UID, self.ipcon)
self.ipcon.connect(self.tinkerforge_host, self.tinkerforge_port)
class Joy:
def __init__(self):
self.output_topic = rospy.get_param('~output_topic', '/cmd_vel')
self.joy_UID = rospy.get_param('~tinkerforge_joy_UID', 'waz')
self.tinkerforge_host = rospy.get_param('~tinkerforge_host',
'localhost')
self.tinkerforge_port = rospy.get_param('~tinkerforge_port', 4223)
self.actual_steering = 0
self.pub = rospy.Publisher(self.output_topic, Twist, queue_size=1)
self.ipcon = IPConnection() # Create IP connection
self.joy = BrickletJoystick(self.joy_UID, self.ipcon)
self.ipcon.connect(self.tinkerforge_host, self.tinkerforge_port)
@staticmethod
def valmap(ivalue, istart, istop, ostart, ostop):
"""
map a value from one input range to output range, like the Arduino map function
:param ivalue: input value to map
:param istart: input from
:param istop: input to
:param ostart: output from
:param ostop: output to
:return: mapped input
"""
return ostart + (ostop - ostart) * ((ivalue - istart) /
(istop - istart))
def run(self):
cmd_vel = Twist()
while not rospy.is_shutdown():
x, y = self.joy.get_position()
pressed = self.joy.is_pressed()
# if not pressed:
# cmd_vel.linear.x = 0
# else:
cmd_vel.linear.x = self.valmap(y, 100, -100, -1, 1)
cmd_vel.angular.z = self.valmap(x, -100, 100, -1, 1)
self.pub.publish(cmd_vel)
def try_bricklet(self, uid, device_identifier, position):
if device_identifier == 210:
self.inputs["joystick"] = BrickletJoystick(uid,
self.controller.ipcon)
self.inputs["joystick"].set_debounce_period(400)
self.inputs["joystick"].register_callback(
self.inputs["joystick"].CALLBACK_POSITION_REACHED,
self.joystick_position)
self.inputs["joystick"].register_callback(
self.inputs["joystick"].CALLBACK_PRESSED, self.joystick_pushed)
self.inputs["joystick"].set_position_callback_threshold(
"o", -99, 99, -99, 99)
if device_identifier == 234:
self.inputs["multitouch"] = BrickletMultiTouch(
uid, self.controller.ipcon)
self.inputs["multitouch"].set_electrode_sensitivity(125)
self.inputs["multitouch"].register_callback(
self.inputs["multitouch"].CALLBACK_TOUCH_STATE,
self.multitouch)
def cb_position_reached(x, y):
if y == 100:
print('Top')
elif y == -100:
print('Bottom')
if x == 100:
print('Right')
elif x == -100:
print('Left')
print("")
if __name__ == "__main__":
ipcon = IPConnection() # Create IP connection
j = BrickletJoystick(UID, ipcon) # Create device object
ipcon.connect(HOST, PORT) # Connect to brickd
# Don't use device before ipcon is connected
# Get threshold callbacks with a debounce time of 0.2 seconds (200ms)
j.set_debounce_period(200)
# Register position reached callback to function cb_position_reached
j.register_callback(j.CALLBACK_POSITION_REACHED, cb_position_reached)
# Configure threshold for position "outside of -99, -99 to 99, 99"
j.set_position_callback_threshold("o", -99, 99, -99, 99)
raw_input("Press key to exit\n") # Use input() in Python 3
ipcon.disconnect()
if y == 100:
print('Top')
elif y == -100:
print('Bottom')
if x == 100:
print('Right')
elif x == -100:
print('Left')
print("")
if __name__ == "__main__":
ipcon = IPConnection() # Create IP connection
j = BrickletJoystick(UID, ipcon) # Create device object
ipcon.connect(HOST, PORT) # Connect to brickd
# Don't use device before ipcon is connected
# Get threshold callbacks with a debounce time of 0.2 seconds (200ms)
j.set_debounce_period(200)
# Register position reached callback to function cb_position_reached
j.register_callback(j.CALLBACK_POSITION_REACHED, cb_position_reached)
# Configure threshold for position "outside of -99, -99 to 99, 99"
j.set_position_callback_threshold("o", -99, 99, -99, 99)
input("Press key to exit\n") # Use raw_input() in Python 2
ipcon.disconnect()
from tinkerforge.ip_connection import IPConnection
from tinkerforge.bricklet_joystick import BrickletJoystick
# Callback function for pressed callback
def cb_pressed():
print("Pressed")
# Callback function for released callback
def cb_released():
print("Released")
if __name__ == "__main__":
ipcon = IPConnection() # Create IP connection
j = BrickletJoystick(UID, ipcon) # Create device object
ipcon.connect(HOST, PORT) # Connect to brickd
# Don't use device before ipcon is connected
# Register pressed callback to function cb_pressed
j.register_callback(j.CALLBACK_PRESSED, cb_pressed)
# Register released callback to function cb_released
j.register_callback(j.CALLBACK_RELEASED, cb_released)
input("Press key to exit\n") # Use raw_input() in Python 2
ipcon.disconnect()
print("Stepper -> Zurück")
stepper.drive_backward()
else:
print("Puffer erreicht")
stepper.stop()
if __name__ == "__main__":
ipcon = IPConnection()
dcb = BrickDC(UIDdcb, ipcon)
oled = BrickletOLED128x64(UIDoled, ipcon)
poti = BrickletLinearPoti(UIDpoti, ipcon)
ropoti = BrickletRotaryPoti(UIDropoti, ipcon)
stepper = BrickStepper(UIDstepper, ipcon)
joystick = BrickletJoystick(UIDjoystick, ipcon)
irsensor = BrickletDistanceIR(UIDirsensor, ipcon)
ipcon.connect(HOST, PORT)
print("Verbindung unter folgenden Daten: \nIP: " + HOST + "\nPort: " +
PORT)
o_clear()
print("Einstellungen werden gesetzt")
o_write(1, 5, "Einstellungen")
o_write(1, 5, "werden gesetzt")
ctrl_hz_fan = 5000
dcb.set_pwm_frequency(5000)
dcb.set_acceleration(5000)
HOST = "localhost"
PORT = 4223
UID = "XYZ" # Change XYZ to the UID of your Joystick Bricklet
from tinkerforge.ip_connection import IPConnection
from tinkerforge.bricklet_joystick import BrickletJoystick
# Callback function for pressed callback
def cb_pressed():
print("Pressed")
# Callback function for released callback
def cb_released():
print("Released")
if __name__ == "__main__":
ipcon = IPConnection() # Create IP connection
j = BrickletJoystick(UID, ipcon) # Create device object
ipcon.connect(HOST, PORT) # Connect to brickd
# Don't use device before ipcon is connected
# Register pressed callback to function cb_pressed
j.register_callback(j.CALLBACK_PRESSED, cb_pressed)
# Register released callback to function cb_released
j.register_callback(j.CALLBACK_RELEASED, cb_released)
raw_input("Press key to exit\n") # Use input() in Python 3
ipcon.disconnect()
#!/usr/bin/env python
# -*- coding: utf-8 -*-
HOST = "localhost"
PORT = 4223
UID = "XYZ" # Change XYZ to the UID of your Joystick Bricklet
from tinkerforge.ip_connection import IPConnection
from tinkerforge.bricklet_joystick import BrickletJoystick
if __name__ == "__main__":
ipcon = IPConnection() # Create IP connection
j = BrickletJoystick(UID, ipcon) # Create device object
ipcon.connect(HOST, PORT) # Connect to brickd
# Don't use device before ipcon is connected
# Get current position
x, y = j.get_position()
print("Position[X]: " + str(x))
print("Position[Y]: " + str(y))
raw_input("Press key to exit\n") # Use input() in Python 3
ipcon.disconnect()
