class psControl():
def __init__(self):
os.putenv('DISPLAY', ':0.0') # LINE SO WE DON'T HAVE TO CREATE WINDOW
pygame.joystick.init() # INITIALIZE JOYSTICK
pygame.joystick.Joystick(0).init(
) # INITIALIZE JOYTSICK 0, CORRESPONDS TO THE CONTROL'S 2 JOYSTICKS
self.trig = Trig()
def joyStick(self, joystickAxis):
pygame.init() # INITIALIZE PYGAME
for event in pygame.event.get(): # LISTENER TO LISTEN FOR EVENT.
if event.type == pygame.JOYAXISMOTION: # LISTEN FOR EVENT JOYSTICK AXIS MOTION
pass ## TRIED TO DO PRINT STATEMENTS HERE, WAY TOO FAST.
joystick = pygame.joystick.Joystick(0).get_axis(
joystickAxis
) # SET JOYSTICKAXIS AS JOYSTICK THAT THIS FUNCTION WILL RRETURN
joystick = joystick * -1 # FOR SOME REASON UP IS NEGATIVE SO WE'LL FLIP THE SIGN CONVENTION
if joystick == 0: # THE COMMAND ABOVE WOULD YIELD A NEGATIVE ZERO, THIS WILL SET NEGATIVE EQUAL TO ZERO IF CURRENT AXIS VALUE IS ZERO
joystick = 0
if joystick < 0: # IF THE USER PULLS BACK ON THE JOYSTICK
joystick *= -1 # MAKE THE VALUE POSITIVE TO MAP TO PWM RANGE 0-255
joystick = self.trig.map(
joystick, 0, 1, 0, 255
) # MAP THAT NUMBER TO A RANGE FROM 0-255 WHICH CORRESPOND TO PWM FOR ARDUINO
joystick *= -1 # MAKE THE VALUE NGEATIVE AGAIN
else:
joystick = self.trig.map(
joystick, 0, 1, 0, 255
) # IF THE VALUE ISN'T ALREADY NEGATIVE JUST MAP IT TO THE PWM RANGE
#print'Left Joystick Position: ', joystick # TEST LINE TO PRINT JOYSTICK VALUE
return joystick # RETURN JOYSTICK VALUE TO BE USED IN MAIN CODE
def buttonPress(self, buttonNum):
pygame.init()
for event in pygame.event.get(): # LISTENER TO LISTEN FOR EVENT.
if event.type == pygame.JOYAXISMOTION: # LISTEN FOR EVENT
pass ## TRIED TO DO PRINT STATEMENTS HERE, WAY TOO FAST.
buttonState = pygame.joystick.Joystick(0).get_button(
buttonNum
) # CROSS is button 0, CIRCLE is button 1, TRIANGLE is button 2, SQUARE is button 3
return buttonState # BUTTONSTATE WILL RETURN 0 OR 1
def psControl(leftJoystick, rightJoystick):
pygame.joystick.init()
pygame.joystick.Joystick(0).init()
pygame.init()
trig = Trig()
os.putenv('DISPLAY', ':0.0')
pygame.init()
for event in pygame.event.get(): # User did something.
if event.type == pygame.JOYAXISMOTION:
pass
leftJoy = pygame.joystick.Joystick(0).get_axis(leftJoystick)
rightJoy = pygame.joystick.Joystick(0).get_axis(rightJoystick)
if leftJoy == 0:
leftJoy = 0
if rightJoy == 0:
rightJoy = 0
leftJoy = leftJoy * -1
rightJoy = rightJoy * -1
if leftJoy < 0:
leftJoy *= -1
leftJoy = trig.map(leftJoy, 0, 1, 0, 255)
leftJoy *= -1
else:
leftJoy = trig.map(leftJoy, 0, 1, 0, 255)
if rightJoy < 0:
rightJoy *= -1
rightJoy = trig.map(rightJoy, 0, 1, 0, 255)
rightJoy *= -1
else:
rightJoy = trig.map(rightJoy, 0, 1, 0, 255)
print'Left Joystick Position: ', leftJoy
print'Right Joystick Position: ', rightJoy
sleep(0.01)
M2A = 12
M2B = 13
motorK = 2
maxPWM = 255
M1 = Motor("LEFT", M1En, M1A, M1B)
M2 = Motor("RIGHT", M2En, M2A, M2B)
M1.pinSet(a)
M2.pinSet(a)
# Initiate the classes needed for this file
nav = Navigation()
nav.position() # line that calls the position of the beacon
trig = Trig()
# coordinates of each waypoint in the room, starting from door side clockwise.
xArr = [5.1, 8.0, 6.0, 2.4, 0] # x-coordinates of the waypoints
yArr = [2.5, -1.5, -3.5, 0.3, 0] # y-coorindates of the waypoints
x1 = 0
y1 = 0
x2 = 0
y2 = 0
# the buffer below is the leeway we allow the rover's position to account for
# i.e the position is never 100% accurate so we want a range of values that way once the rover hits those values
# it will perform some action based off these positions
buffer = 0.4
angleBuffer = 45
error = 0
from Trig import Trig trig = Trig() # Map 5 from values to 0 to 1024 num = trig.map(0.5, 0, 1, 0, 255) print(num)
def __init__(self):
os.putenv('DISPLAY', ':0.0') # LINE SO WE DON'T HAVE TO CREATE WINDOW
pygame.joystick.init() # INITIALIZE JOYSTICK
pygame.joystick.Joystick(0).init(
) # INITIALIZE JOYTSICK 0, CORRESPONDS TO THE CONTROL'S 2 JOYSTICKS
self.trig = Trig()