def main(argv=None):
options = parse_arguments(argv)
controller = PS4Controller()
controller.init()
while True:
sock = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
sock.connect((options.ip, 9999))
axis_data = controller.listen()
raw_steering = axis_data[0]
raw_throttle = axis_data[4]
converted_steering = str(convert_steering(raw_steering))
converted_throttle, direction = convert_throttle(raw_throttle)
converted_throttle = str(converted_throttle)
if direction > 0:
throttle_dir = 'f'
else:
throttle_dir = 'r'
while len(converted_steering) < 3:
converted_steering += ' '
while len(converted_throttle) < 3:
converted_throttle += ' '
print(
f'raw steering={raw_steering}, converted steering={converted_steering}'
) # noqa: E501
print(
f'raw throttle={raw_throttle}, converted throttle={throttle_dir}{converted_throttle}'
) # noqa: E501
sock.send(
f's {converted_steering} {throttle_dir} {converted_throttle}'.
encode())
sleep(0.05)
def _parse_ps4(self):
from controller import PS4Controller
#It is not necessary to start a new thread for this
#But since the controller is overhead anyway, it is elegant enough
ps4 = PS4Controller()
self.ps4_queue = queue.Queue()
ps4.init(self.ps4_queue)
self.controller_thread = Thread(target=ps4.listen)
self.controller_thread.start()
print("Crazyflie is ready for commands.")
button = "Init"
command = "Init"
while command != "done":
if not self.ps4_queue.empty():
button = self.ps4_queue.get()
if button == "select":
command = "done"
elif button == "start" and self._takenOff == False:
command = "takeoff"
elif button == "start" and self._takenOff == True:
command = "land"
elif button == "square":
command = "square"
elif button == "triangle":
command = "triangle"
self._interpret_command(command)
self.controller_thread.join()
def __init__(self, image_path, log_path):
self.base_image_path = image_path
self.log_path = log_path
self.state = {'steering': 90, 'throttle': 0}
QtWidgets.QDialog.__init__(self)
Ui_Running_screen.__init__(self)
self.image_counter = 0
self.setupUi(self)
self.controller = PS4Controller()
self.controller.init()
if not connection_ok():
raise RuntimeError('Shit hit the fan yo')
import sys
from board import SCL, SDA
import busio
from adafruit_pca9685 import PCA9685
from adafruit_motor import servo
from adafruit_motor import motor
from controller import PS4Controller
#import camera
#init controller
ps4 = PS4Controller()
#init i2c
i2c = busio.I2C(SCL, SDA)
#init PCA
pca = PCA9685(i2c)
pca.frequency = 50
servo_steer = servo.Servo(pca.channels[0])
esc = servo.ContinuousServo(pca.channels[1])
def scale_servo(x):
y = round((30 - 70) * x + 1 / 1 + 1 + 70, 2) #used to scale -1,1 to 0,180
return y
def scale_esc(x):
y = round((x + 1) / 8, 2) #used to scale -1,1 to 0,180
return y
def __init__(self):
self.controller = PS4Controller()
self.controller.init()
import airsim
import time
import numpy as np
from PIL import Image
from controller import PS4Controller
MAX_SPEED = 1
MAX_THETA = 1
if __name__ == '__main__':
client = airsim.CarClient()
client.confirmConnection()
client.enableApiControl(True)
car_controls = airsim.CarControls()
controller = PS4Controller()
controller.start()
"""PS4 Controller's axes map
Axis 1 Axis 4
-1 -1
^ ^
| |
Axis 0 -1 <---0---> 1 Axis 3 -1 <---0---> 1
| |
v v
1 1
"""
while True: