예제 #1
0
파일: maps.py 프로젝트: ehan1990/snowbots
def build_map(mapfile):
  sticks = joystick.detect_joysticks()
  if len(sticks) < 1:
    print "No joysticks found.  Exiting..."
    shutdown(1)

  jsctrl = sticks[0]
  jsctrl.set_observer(sys.stdout)
  jsctrl.calibrate()
  dist = 0
  map = CourseMap()

  global running, client
  running = client.ready()
  lap_start = client.getOdometerDistance()
  while running:
    print "Awaiting input..."
    event = jsctrl.await_event()
    if joystick.is_motion_event(event):
      x = jsctrl.getX()
      t = jsctrl.getT()
      print "(%.2f, %.2f)" % (x, t)
      steer = int(100 * x * abs(x))
      throt = int(MAX_THROTTLE * t)
      client.setSteering(steer)
      client.setThrottle(throt)
      dist = client.getOdometerDistance() - lap_start
      print "dist %.2f  steer %i" % (dist, steer)
      map.take_reading(dist, steer)
    elif joystick.is_button_event(event):
      if joystick.get_event_button(event) == 0:
        lap_start = client.getOdometerDistance()  # new lap
      else:
        running = False  # Exit
  map.save(mapfile)