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)