def controllerXbox(self): # loop around xbox events while True: self.speed = 0 # pygame.event.pump() # if self.pressed[K_ESCAPE]: break for event in xbox_read.event_stream(deadzone=12000): # if either the up/down button is pressed, set the Y axes to if (event.key == 'RT' or event.key == 'LT'): if event.key == 'RT' and event.value > 1: self.speed = int(event.value)/17 self.moveY(0) elif event.key == 'LT' and event.value > 1: self.speed = int(event.value)/17 self.moveY(2) else: self.moveY(1) # if either the left/right button is pressed, set the X axes to if(event.key == 'dl' or event.key == 'dr'): if event.key == 'dl' and event.value == 1: self.moveX(0) elif event.key == 'dr' and event.value == 1: self.moveX(2) else: self.moveX(1) # Runs the move function self.move(self.speed) #if(event.key == 'guide'): break os.system(['clear','cls'][os.name == 'nt'])
def controllerXbox(): try: for event in xbox_read.event_stream(deadzone=12000): # Must build in truning and moving if event.key == 'Y1' and event.value > 1: move(1,(int(event.value) /2200)) if event.key == 'Y1' and event.value < 1: move(2,(int(event.value) /2200)) if event.key == 'X1' and event.value > 1: move(5,(int(event.value) /2200)) if event.key == 'X1' and event.value < 1: move(6,(int(event.value) /2200)) except: print '[...] Error With Controller [...]'
#Set WiringPi pinModes
void pinMode(TURN,PWM_OUTPUT);
# Default calibration values
servoMid = 425
servoWidth = 180
rt_intensity = 0
lt_intensity = 0
steer = servoMid
brakeSet = 'no'
for event in xbox_read.event_stream(deadzone=12000):
# Triggers Brake
if event.key=='RT' or event.key=='LT':
if event.key=='RT':
rt_intensity = event.value
else:
lt_intensity = event.value
brakeSet = yes if rt_intensity or lt_intesity >= 10 else no
if brakeSet=='yes':
GPIO.output(BRAKE, GRPIO.HIGH)
# Left thumbstick controls the steering
if event.key=='Y1':
speed = int(event.value/32)
speed.puts(speed)
if event.key=='X2':
steer = int( servoMid + (servoWidth*-event.value)/32768 )
def controllerPs3(): for event in xbox_read.event_stream(deadzone=12000): print event
msg[2]=1
msg[3]=value
elif key == 'B':
msg[2]=2
msg[3]=value
elif key == 'X':
msg[2]=3
msg[3]=value
elif key == 'Y':
msg[2]=4
msg[3]=value
#print (key , ' ' , value)
return 0
try:
for event in xbox_read.event_stream(deadzone=12000):
if (event.key == 'LT'):
lt_intensity = event.value
elif (event.key == 'RT'):
rt_intensity = event.value
elif (event.key == 'Y1'):
y1_intensity = event.value
elif (event.key == 'X2'):
x2_intensity = event.value
else:
ProcessButtons(event.key , event.value)
msg[0] = ProcessValue(x2_intensity)
msg[1] = ProcessValue(y1_intensity) #msg[1] = ProcessTriggers()
msg[4] +=1
sendData(msg)
if msg[4] > 1000:
#32768 max range in xbox controller analog stick / 255 for triggers
move = 0
move2 = 500 #used for pwm signal max value
servoMin = 500 #used for min value for drive servos
servoMove = 150 #used for min value for camera servos
servoMoveBasket = 400 #used for min value for basket servos
servoMoveArm = 400 #used for min values for arm servos
menu = 1 #used to toggle between camera servos and capture carry servos
pwm.setPWMFreq(50)
pwm2.setPWMFreq(2000) # Set frequency to 50 Hz
#main loop
while (True):
for event in xbox_read.event_stream(
deadzone=6000
): #looks for a button to be pressed sets deadzone (sensitivity) to 6000
if (event.key == 'Y1' and event.value > 0
): #moves drive servos based on degree of analog stick movement
move = 4003 - (3500 * event.value) / 32768
pwm2.setPWM(0, servoMin, move)
if (event.key == 'Y1' and event.value < 0):
move = 4004 - (3500 * -event.value) / 32768
pwm2.setPWM(2, servoMin, move)
if (event.key == 'Y1' and event.value == 0):
servoMin = 500
pwm2.setPWM(0, servoMin, move)
pwm2.setPWM(2, servoMin, move)
if (event.key == 'Y2' and event.value > 0):
move = 4003 - (3500 * event.value) / 32768
pwm2.setPWM(1, servoMin, move)
