def compute(threadname):
""" Compute the force """
dev = Device()
dev.baudrate = 230400
lastupdate = pg.ptime.time()
i = 0
while True:
taille = HAPTICDEV.incommingsize() #FIFO.qsize()
if taille >= 3:
rec = HAPTICDEV.readarray(3)#bytearray(extract(FIFO, 3))
taille = taille - 3
if rec[0] != 5:
while rec[0] != 5:
rec = HAPTICDEV.readarray(1)#bytearray(extract(FIFO, 1))
taille = taille - 1
rec[1:2] = HAPTICDEV.readarray(2)#bytearray(extract(FIFO, 2))
taille = taille - 2
if rec[0] == 5:
i += 1
angle = rec[1] + rec[2] * 256
if angle > 32767:
angle -= 65536
degre = angle*360/20000
data = SHARED['data']
data[:-1] = data[1:]
data[-1] = degre
SHARED['data'] = data
indexf = max(min(int((ANGLEMAX+degre)*RESANG), ANGLEMAX*RESANG*2-1), 0)
forcenow = FORCE[indexf]
forcenow = max(min(forcenow, 130), -130)
HAPTICDEV.write(forcenow)
SHARED['degre'] = degre
SHARED['forcenow'] = forcenow
if i >= COUNT:
i = 0
now = pg.ptime.time()
SHARED['fps'] = COUNT / (now - lastupdate)
SHARED['taille'] = taille
lastupdate = now
import paho.mqtt.client as mqtt
import json
from pylibftdi import Device, USB_PID_LIST, USB_VID_LIST
from config import MQTT_HOST
USB_VID_LIST.append(0x1321)
USB_PID_LIST.append(0x1001)
dev = Device(mode='t')
dev.baudrate = 57600
dev.open()
def run_command(cmd):
if cmd != '':
dev.flush()
print('TX: ' + cmd)
dev.writelines(cmd + '\r')
out = ''
while out == '':
out = dev.readline()
print('RX: ' + out)
def to_command(obj):
cmds = []
for input in obj:
cmd = 'xpgn(' + input + ',*)='
# print('Input: ' + input)
# print(obj[input])
#!/usr/bin/env python
import pygame
from math import floor
from pylibftdi import Device # I2C over USB
import time
# import servo
dev = Device(mode="b")
dev.baudrate = 9600
# allow multiple joysticks
joy = []
def fix(bits):
if bits & 0b00100000:
return 63 - bits
else:
return bits
# handle joystick event
def handleJoyEvent(e):
if e.type == pygame.JOYAXISMOTION:
axis = "unknown"
if e.dict["axis"] == 0:
axis = "X"
bits = 0b10000000 # Throw away; don't change anything
if e.dict["axis"] == 1:
axis = "Y"
def midi_ftdi_dev():
from pylibftdi import Device
d = Device()
d.baudrate = 31250
return d
