def update():
global outputLabel
cont.update()
buttons1 = 0x0
buttons2 = 0x0
# going to eight would include the start button; however, it seems that when 0x80 (only the start button) is sent
# the arduino lags for a second or two and reports false values for buttons
for i in range(0, cont.getNumButtons()):
if(cont.getButton(i)):
if(cont.getValueForButton(i) <= 0xFF):
buttons1 += cont.getValueForButton(i)
else:
buttons2 += cont.getValueForButton(i) >> 8
outbound.write("STR") # sends a signal to tell that this is the start of data
outbound.write(chr(buttons1)) # writes the buttons first
outbound.write(chr(buttons2))
outbound.write(str(int(cont.getPrimaryX()))) # casts the floats to ints, then to strings for simple parsing
outbound.write(" ")
outbound.write(str(int(cont.getPrimaryY())))
outbound.write(" ")
outbound.write(str(int(cont.getSecondaryX())))
outbound.write(" ")
outbound.write(str(int(cont.getSecondaryY())))
outbound.write(" ")
outbound.write(str(int(cont.getTriggers())))
outbound.write(" ")
counter = 10
proceed = False
while True and counter > 0:
counter -= 1
if outbound.readable():
if 'S' == outbound.read(1):
if 'T' == outbound.read(1):
if 'R' == outbound.read(1):
proceed = True
break
if(proceed):
linesToRead = int(outbound.read(3)) # allows for up to 999 lines to be read...
for i in range(0, linesToRead):
outputLabel['text'] = outbound.readline().rstrip()
outputLabel.after(100, update)
cont.update()
buttons1 = 0x0
buttons2 = 0x0
# going to eight would include the start button; however, it seems that when 0x80 (only the start button) is sent
# the arduino lags for a second or two and reports false values for buttons
for i in range(0, cont.getNumButtons()):
if(cont.getButton(i)):
if(cont.getValueForButton(i) <= 0xFF):
buttons1 += cont.getValueForButton(i)
else:
buttons2 += cont.getValueForButton(i) >> 8
outbound.write("STR") # sends a signal to tell that this is the start of data
outbound.write(chr(buttons1)) # writes the buttons first
outbound.write(chr(buttons2))
outbound.write(str(int(cont.getPrimaryX()))) # casts the floats to ints, then to strings for simple parsing
outbound.write(" ")
outbound.write(str(int(cont.getPrimaryY())))
outbound.write(" ")
outbound.write(str(int(cont.getSecondaryX())))
outbound.write(" ")
outbound.write(str(int(cont.getSecondaryY())))
outbound.write(" ")
outbound.write(str(int(cont.getTriggers())))
outbound.write(" ")
time.sleep(0.1) # allows for chirps of information rather than a stream
def update():
cont.update()
buttons1 = 0x0
buttons2 = 0x0
# going to eight would include the start button; however, it seems that when 0x80 (only the start button) is sent
# the arduino lags for a second or two and reports false values for buttons
for i in range(0, cont.getNumButtons()):
if cont.getButton(i):
if cont.getValueForButton(i) <= 0xFF:
buttons1 += cont.getValueForButton(i)
else:
buttons2 += cont.getValueForButton(i) >> 8
outbound.write("STR") # sends a signal to tell that this is the start of data
outbound.write(chr(buttons1)) # writes the buttons first
outbound.write(chr(buttons2))
outbound.write(str(int(cont.getPrimaryX()))) # casts the floats to ints, then to strings for simple parsing
outbound.write(" ")
outbound.write(str(int(cont.getPrimaryY())))
outbound.write(" ")
outbound.write(str(int(cont.getSecondaryX())))
outbound.write(" ")
outbound.write(str(int(cont.getSecondaryY())))
outbound.write(" ")
outbound.write(str(int(cont.getTriggers())))
outbound.write(" ")
counter = 10
proceed = False
pressureOut["bg"] = "red"
voltageOut["bg"] = "red"
tempOut["bg"] = "red"
accelOut["bg"] = "red"
depthOut["bg"] = "red"
pressureLabel["bg"] = "red"
voltageLabel["bg"] = "red"
tempLabel["bg"] = "red"
accelLabel["bg"] = "red"
depthLabel["bg"] = "red"
while True and counter > 0:
counter -= 1
if outbound.readable():
if "S" == outbound.read(1):
if "T" == outbound.read(1):
if "R" == outbound.read(1):
proceed = True
break
if proceed:
linesToRead = int(outbound.read(3)) # allows for up to 999 lines to be read...
for i in range(0, linesToRead // 2):
label = outbound.readline().rstrip().lstrip()
if label == "PSR":
pressureOut["text"] = outbound.readline().rstrip()
pressureOut["bg"] = "green"
pressureLabel["bg"] = "green"
elif label == "VLT":
voltageOut["text"] = outbound.readline().rstrip()
voltageOut["bg"] = "green"
voltageLabel["bg"] = "green"
elif label == "TMP":
tempOut["text"] = outbound.readline().rstrip()
tempOut["bg"] = "green"
tempLabel["bg"] = "green"
elif label == "ACL":
accelOut["text"] = outbound.readline().rstrip() + "\n"
accelOut["text"] += outbound.readline().rstrip() + "\n"
accelOut["text"] += outbound.readline().rstrip()
accelOut["bg"] = "green"
accelLabel["bg"] = "green"
elif label == "DPT":
depthOut["text"] = outbound.readline().rstrip()
depthOut["bg"] = "green"
depthLabel["bg"] = "green"
else:
print "unknown datatype:", label
print "data:", outbound.readline().rstrip()
root.after(100, update)
# Convert the 0-1 range into a value in the right range.
return(rightMin + (valueScaled * rightSpan))
if __name__ == '__main__':
controller.init()
motorSerial = serial.Serial('/dev/ttyUSB0', 9600, timeout=0.1)
xbox = controller.getController()
while(True):
leftSpeed = 0
rightSpeed = 0
buttons = controller.getButtons(xbox)
triggers = controller.getTriggers(xbox)
leftSpeed += translate(triggers["LT"], -1, 1, 0, 250)
rightSpeed += translate(triggers["LT"], -1, 1, 0, 250)
leftSpeed -= translate(triggers["RT"], -1, 1, 0, 250)
rightSpeed -= translate(triggers["RT"], -1, 1, 0, 250)
if(buttons["LB"] == 1):
leftSpeed /= 1.5
rightSpeed *= 1.5
if(buttons["RB"] == 1):
leftSpeed *= 1.5
rightSpeed /= 1.5
bytesize=serial.EIGHTBITS
)
print "connect the controller"
cont.update()
while not cont.isConnected():
cont.update()
print "controller connected"
while(1):
cont.update()
buttons = 0x0
for i in range(0, 8):
if cont.getButton(i):
buttons += (1 << i)
#ser.print("STR")#should I send an ok signal to start the communication? how long does that take?
ser.write(chr(buttons))
ser.write(str(int(cont.getPrimaryX())))
ser.write(" ")
ser.write(str(int(cont.getPrimaryY())))
ser.write(" ")
ser.write(str(int(cont.getSecondaryX())))
ser.write(" ")
ser.write(str(int(cont.getSecondaryY())))
ser.write(" ")
ser.write(str(int(cont.getTriggers())))
ser.write(" ")
time.sleep(0.1)
#ser.write("END")#should tis be replied to? or just not sent?
def update():
cont.update()
buttons1 = 0x0
buttons2 = 0x0
# going to eight would include the start button; however, it seems that when 0x80 (only the start button) is sent
# the arduino lags for a second or two and reports false values for buttons
for i in range(0, cont.getNumButtons()):
if(cont.getButton(i)):
if(cont.getValueForButton(i) <= 0xFF):
buttons1 += cont.getValueForButton(i)
else:
buttons2 += cont.getValueForButton(i) >> 8
outbound.write("STR") # sends a signal to tell that this is the start of data
outbound.write(chr(buttons1)) # writes the buttons first
outbound.write(chr(buttons2))
outbound.write(str(int(cont.getPrimaryX()))) # casts the floats to ints, then to strings for simple parsing
outbound.write(" ")
outbound.write(str(int(cont.getPrimaryY())))
outbound.write(" ")
outbound.write(str(int(cont.getSecondaryX())))
outbound.write(" ")
outbound.write(str(int(cont.getSecondaryY())))
outbound.write(" ")
outbound.write(str(int(cont.getTriggers())))
outbound.write(" ")
counter = 10
proceed = False
pressureOut['bg'] = "red"
voltageOut['bg'] = "red"
tempOut['bg'] = "red"
accelOut['bg'] = "red"
depthOut['bg'] = "red"
pressureLabel['bg'] = "red"
voltageLabel['bg'] = "red"
tempLabel['bg'] = "red"
accelLabel['bg'] = "red"
depthLabel['bg'] = "red"
while True and counter > 0:
counter -= 1
if outbound.readable():
if 'S' == outbound.read(1):
if 'T' == outbound.read(1):
if 'R' == outbound.read(1):
proceed = True
break
if(proceed):
linesToRead = int(outbound.read(3)) # allows for up to 999 lines to be read...
for i in range(0, linesToRead // 2):
label = outbound.readline().rstrip().lstrip()
if(label == "PSR"):
pressureOut['text'] = outbound.readline().rstrip()
pressureOut['bg'] = "green"
pressureLabel['bg'] = "green"
elif(label == "VLT"):
voltageOut['text'] = outbound.readline().rstrip()
voltageOut['bg'] = "green"
voltageLabel['bg'] = "green"
elif(label == "TMP"):
tempOut['text'] = outbound.readline().rstrip()
tempOut['bg'] = "green"
tempLabel['bg'] = "green"
elif(label == "ACL"):
accelOut['text'] = outbound.readline().rstrip() + '\n'
accelOut['text'] += outbound.readline().rstrip() + '\n'
accelOut['text'] += outbound.readline().rstrip()
accelOut['bg'] = "green"
accelLabel['bg'] = "green"
elif(label == "DPT"):
depthOut['text'] = outbound.readline().rstrip()
depthOut['bg'] = "green"
depthLabel['bg'] = "green"
else:
print "unknown datatype:", label
print "data:", outbound.readline().rstrip()
root.after(100, update)
else:
outbound.write(str(int(cont.getPrimaryX())))
outbound.write(" ")
outbound.write(str(int(cont.getPrimaryY())))
#outbound.write(" ")
#outbound.write(str(int(cont.getPrimaryY())))
outbound.write(" ")
outbound.write(str(int(cont.getSecondaryX())))
outbound.write(" ")
outbound.write(str(int(cont.getSecondaryY())))
outbound.write(" ")
#outbound.write(str(int(cont.getTriggers())))
if half_m:
outbound.write(str(int(cont.getTriggers()) / 2))
else:
outbound.write(str(int(cont.getTriggers())))
outbound.write(" ")
except:
print "Crashed while reading controller input"
pass
counter = 10
proceed = False
got = '' #shows in red the old data in case of lost connection.
textwrite(200, 90, (str(pressure) + " mbars"), 255, 10, 10)
textwrite(200, 110, (str(current) + " amps"), 255, 10, 10)
p_factor = 1
try:
outbound.write("STR") # sends a signal to tell that this is the start of data
outbound.write(chr(buttons1))# writes the buttons first
outbound.write(chr(buttons2))
outbound.write(str(int(cont.getPrimaryX() * p_factor)))# casts the floats to ints, then to strings for simple parsing
outbound.write(" ")
outbound.write(str(int(cont.getPrimaryY() * p_factor)))
outbound.write(" ")
outbound.write(str(int(cont.getSecondaryX() * p_factor)))
outbound.write(" ")
outbound.write(str(int(cont.getSecondaryY() * p_factor)))
outbound.write(" ")
outbound.write(str(int(cont.getTriggers() * p_factor)))
outbound.write(" ")
except serial.serialutil.SerialException:
no_serial = True
except:
print "Crashed while sending controller input"
got = '' #shows in red the old data in case of lost connection.
textwrite(200, 90, (str(pressure) + " mbars"), 255, 10, 10)
textwrite(200, 110, (str(current) + " amps"), 255, 10, 10)
textwrite(200, 130, (str(temperature) + " degrees C"), 255, 10, 10)
textwrite(200, 150, (str(depth) + " feet"), 255, 10, 10)
textwrite(200, 170, str(ypr), 255, 10, 10)