def gamepad(q):
""" gamepad takes a Queue and puts all events on it """
print "gamepad starting up"
gp = Gamepad()
for event in gp.get_events():
print "gamepad: read {} and queued".format(event)
q.put(event)
def __init__(self, grbl):
self.step_size = 0.1 # mm
self.max_feedrate = 1000
self.loop_delay = 0.02
self.jogging = False
self.stepping = False
self.grbl = grbl
self.gamepad = Gamepad()
# Feed hold
self.gamepad.on('l1', lambda *a: grbl.send(b'!'))
# Resume cycle
self.gamepad.on('l2', lambda *a: grbl.send(b'~'))
self.gamepad.on('btn11', self.toggle_stepping) # left axis btn
self.gamepad.on('select', lambda *a: grbl.soft_reset())
self.gamepad.on('start', lambda *a: grbl.unlock())
self.gamepad.on('dpady', self.on_dpady)
# zero X-axis work coordinates
self.gamepad.on('btn2', lambda *a: grbl.set_active_coord_system(x=0))
# zero Y-axis work coordinates
self.gamepad.on('btn1',
lambda *a: self.grbl.set_active_coord_system(y=0))
# zero Z-axis work coordinates
self.gamepad.on('btn3',
lambda *a: self.grbl.set_active_coord_system(z=0))
def main():
gamepad = Gamepad()
motors = Motors()
iks = []
for i in range(4):
iks.append(DeltaIK())
controller = ManualController(iks)
angles = 8 * [0.0]
kPs = 8 * [0.1]
frametime = 1.0 / 30.0
print("Ready.")
while True:
try:
s = time.time()
if not gamepad.process_events():
print("Controller disconnected, waiting for reconnect...")
while not gamepad.reconnect():
time.sleep(0.5)
print("Controller reconnected.")
if gamepad.is_a_down():
print("Shutdown button (A) has been pressed, shutting down...")
break
pad_y = gamepad.get_left_thumbstick_y()
controller.step(pad_y, frametime)
# Map IK leg results to motors
for i in range(4):
angles[legMap[i]
[0]] = legDirs[i][0] * (iks[i].angle -
(np.pi / 2.0 - iks[i].A))
angles[legMap[i]
[1]] = legDirs[i][1] * (iks[i].angle +
(np.pi / 2.0 - iks[i].A))
motors.sendCommands(angles, kPs)
time.sleep(max(0, frametime - (time.time() - s)))
except Exception as e:
print(e)
break
print("-- Program at End --")
def main(args=None):
"""Console script for gamepad."""
controller = Gamepad()
controller.watch_all()
click.echo("Connect a gamepad and start mashing buttons!")
input("Press ENTER to quit\n\n")
return 0
def __init__(self):
super().__init__()
self.stream = VideoStream()
self.winId = self.stream.winId()
self.setCentralWidget(self.stream)
self.resize(500, 500)
self.gamepad = Gamepad()
self.hud = HUD(self)
def main():
logging.basicConfig(format='%(message)s', level=logging.INFO)
# read options from rc file
cfg = rcfile('sky-pointer')
port = int(cfg.get('port', 10001))
iface = cfg.get('iface', '0.0.0.0')
serial = cfg.get('serial', SERIAL_PORT)
joystick = cfg.get('joystick', JOYSTICK_DEV)
# override some options with command line arguments
parser = argparse.ArgumentParser(
description='Sky-pointing laser controller')
parser.add_argument('--port',
'-p',
type=int,
default=port,
help='Listenging TCP port (default: %d)' % port)
parser.add_argument('--iface',
'-i',
default=iface,
help='Listenging network interface (default: %s)' %
iface)
parser.add_argument('--serial',
'-s',
default=serial,
help='Serial port (default: %s)' % serial)
parser.add_argument('--joystick',
'-j',
default=joystick,
help='Joystick device (default: %s)' % joystick)
args = parser.parse_args()
ptr = Pointer(args.serial)
pad = Gamepad(ptr, args.joystick)
server = Server(ptr, args.iface, args.port)
logging.info("Server listening on port %d" % args.port)
pad_thread = threading.Thread(target=pad.loop)
pad_thread.daemon = True
pad_thread.start()
try:
server.serve_forever()
except KeyboardInterrupt:
logging.info("Closing")
def createGamepad(self):
if self.gamepad == None:
print("Connecting gamepad...")
self.gamepad = Gamepad(0)
if self.gamepad.enabled():
self.gamepad.connectButton(0, self.addMinThrottle)
self.gamepad.connectButton(1, self.removeMinThrottle)
self.gamepad.connectButton(6, self.stop)
self.gamepad.connectButton(7, self.start)
self.gamepad.connectButton(3, self.disableGamepad)
self.gamepad_timer = PyQt5.QtCore.QTimer()
self.gamepad_timer.timeout.connect(self.checkGamepad)
self.setGamepadFrequency() # This method starts gamepad_timer
else:
self.gamepad.close()
self.gamepad = None
else:
print("Gamepad already exists!")
# SPDX-FileCopyrightText: 2021 ladyada for Adafruit Industries
# SPDX-License-Identifier: MIT
import board
import digitalio
import analogio
import usb_hid
from gamepad import Gamepad
gp = Gamepad(usb_hid.devices)
# Create some buttons. The physical buttons are connected
# to ground on one side and these and these pins on the other.
button_pins = (board.D2, board.D3, board.D4, board.D5)
# Map the buttons to button numbers on the Gamepad.
# gamepad_buttons[i] will send that button number when buttons[i]
# is pushed.
gamepad_buttons = (1, 2, 8, 15)
buttons = [digitalio.DigitalInOut(pin) for pin in button_pins]
for button in buttons:
button.direction = digitalio.Direction.INPUT
button.pull = digitalio.Pull.UP
# Connect an analog two-axis joystick to A4 and A5.
ax = analogio.AnalogIn(board.A4)
ay = analogio.AnalogIn(board.A5)
"""
Author: Leo Vidarte <http://nerdlabs.com.ar>
This is free software,
you can redistribute it and/or modify it
under the terms of the GPL version 3
as published by the Free Software Foundation.
"""
from gamepad import Gamepad
from serial import Serial
serial = Serial('/dev/ttyUSB0', 9600)
gamepad = Gamepad(serial)
def move(event):
print 'move', event.state.get_axes()
def move_x(event):
print 'move-x', event.state.x
def move_y(event):
print 'move-y', event.state.y
def move_left(event):
print 'move-left', event.state.x
def InitializeGamepad(self, request, context):
client_uuid_str = str(uuid.uuid4())
print(f"Creating client with uuid {client_uuid_str}")
self.gamepads[client_uuid_str] = Gamepad(uuid=client_uuid_str)
return gamepad_pb2.ClientID(client_id=client_uuid_str)
def __init__(self, root):
super().__init__()
self.root = root
self.root.protocol("WM_DELETE_WINDOW", self.on_closing)
self.setup_video_frame()
bottom_frame = Frame(root, relief=RAISED, borderwidth=1)
bottom_frame.pack(fill=BOTH, expand=True)
left_analog_frame = Frame(bottom_frame, relief=RAISED, borderwidth=1)
digital_frame = Frame(bottom_frame,
relief=RAISED,
borderwidth=1,
width=150)
right_analog_frame = Frame(bottom_frame, relief=RAISED, borderwidth=1)
left_analog_frame.pack(fill=BOTH, expand=True, side='left')
digital_frame.pack(fill=BOTH, expand=True, side='left')
right_analog_frame.pack(fill=BOTH, expand=True, side='left')
digital_button_wrapper = Frame(digital_frame)
digital_button_wrapper.pack(fill=NONE)
digital_button_wrapper.place(relx=.5, rely=.5, anchor="c")
# Digital buttons
btn_font = font.Font(weight='bold')
self.up_button = Button(digital_button_wrapper,
text=u'\u2191',
font=btn_font)
self.up_button.pack(side=TOP, padx=5, pady=5)
self.down_button = Button(digital_button_wrapper,
text=u'\u2193',
font=btn_font)
self.down_button.pack(side=BOTTOM, padx=5, pady=5)
self.left_button = Button(digital_button_wrapper,
text=u'\u2190',
font=btn_font)
self.left_button.pack(side=LEFT, padx=5, pady=5)
self.right_button = Button(digital_button_wrapper,
text=u'\u2192',
font=btn_font)
self.right_button.pack(side=RIGHT, padx=5, pady=5)
# Left analog bar
self.left_analog = Scale(left_analog_frame, from_=10, to=-10)
self.left_analog.set(0)
self.left_analog.pack()
self.left_analog.place(relx=.5, rely=.5, anchor="c")
# Right analog bar
self.right_analog = Scale(right_analog_frame, from_=10, to=-10)
self.right_analog.set(0)
self.right_analog.pack()
self.right_analog.place(relx=.5, rely=.5, anchor="c")
self.gamepad_thread = Gamepad(self)
self.orig_color = self.up_button.cget('background')
self.start_gamepad()
