def xboxInputUpdater():
global xboxValues
for event in xbox_read.event_stream(deadzone=12000):
if event.key=='X1' or event.key=='X2' or event.key=='Y1' or event.key=='Y2':
value = int(math.log10(math.fabs(event.value))/JOYSTICKSCALAR * event.value/math.fabs(event.value))
xboxValues[event.key] = value
elif event.key=="LT" or event.key=="RT":
value = (event.value>=128)
xboxValues[event.key] = value
else:
xboxValues[event.key] = event.value
def setStep(w1, w2, w3, w4):
GPIO.output(motorPin1, w1)
GPIO.output(motorPin2, w2)
GPIO.output(motorPin3, w3)
GPIO.output(motorPin4, w4)
def off():
setStep(0,0,0,0)
time.sleep(delay)
if __name__ == "__main__":
temp = ""
pForward = Process(target=forward)
while True:
for event in xbox_read.event_stream(deadzone=12000):
temp = str(event)
print temp
input_state_L = GPIO.input(lbutton)
input_state_R = GPIO.input(rbutton)
print ("{0} , {1}").format(input_state_L, input_state_R)
if(temp == "Event(A,1,0)"):
input_state_L = 0
else:
input_state_L = 1
print ("{0} , {1}").format(input_state_L, input_state_R)
if (input_state_L == False and input_state_R == False):
def signal_handler(signal, frame): #print "Stopping RobotArm Controller" sys.exit(0) # Capture Ctrl+C so we can shut down nicely signal.signal(signal.SIGINT, signal_handler) #print "Starting RobotArm Controller" #print "Press Ctrl+C at any time to quit" # Create our RobotArm arm = RobotArm.RobotArm() #GPIO.output(greenLightPin,GPIO.HIGH) # Our main event loop for event in xbox_read.event_stream(deadzone=DEADZONE): #print "Xbox event: %s" % (event) #Special case for LB and RB to control wrist if(event.key=='LB'): direction=1 elif(event.key=='RB'): direction=2 # Special-case the B button, if it's been pressed, then toggle the light elif(event.key=='B'): if(event.value>0): arm.toggleLight() continue # Special-case the A button, if it's being held, then we want the light
GPIO.output(motorPin1, w1)
GPIO.output(motorPin2, w2)
GPIO.output(motorPin3, w3)
GPIO.output(motorPin4, w4)
def off():
setStep(0, 0, 0, 0)
time.sleep(delay)
if __name__ == "__main__":
temp = ""
pForward = Process(target=forward)
while True:
for event in xbox_read.event_stream(deadzone=12000):
temp = str(event)
print temp
input_state_L = GPIO.input(lbutton)
input_state_R = GPIO.input(rbutton)
print("{0} , {1}").format(input_state_L, input_state_R)
if (temp == "Event(A,1,0)"):
input_state_L = 0
else:
input_state_L = 1
print("{0} , {1}").format(input_state_L, input_state_R)
if (input_state_L == False and input_state_R == False):
def main():
global throttle
# Store controller values
A = 0
B = 0
Y1 = 0
X1 = 0
# Declare our threads
# Don't forget, set the threads as daemon to keep them from persisting
tForward_stop = threading.Event()
tForward = threading.Thread(target=forward, args=(1, tForward_stop))
tForward.daemon = True
tBackward_stop = threading.Event()
tBackward = threading.Thread(target=backward, args=(2, tBackward_stop))
tBackward.daemon = True
while True:
for event in xbox_read.event_stream(deadzone=12000):
# print str(event)
input_state_L = GPIO.input(lbutton)
input_state_R = GPIO.input(rbutton)
if ((event.key == "A") and (event.value == 1)):
A = 1
pass
elif ((event.key == "A") and (event.value == 0)):
A = 0
pass
elif ((event.key == "B") and (event.value == 1)):
B = 1
pass
elif ((event.key == "B") and (event.value == 0)):
B = 0
pass
elif ((event.key == "Y1")):
Y1 = event.value
pass
else:
pass
if (A == 0):
input_state_L = 1
pass
elif (A == 1):
input_state_L = 0
pass
if (B == 0):
input_state_R = 1
pass
elif (B == 1):
input_state_R = 0
pass
if (A == 0) and (B == 0):
if (Y1 == 0):
input_state_L = 1
input_state_R = 1
pass
elif (Y1 > 0):
throttle = abs(float(32768 / Y1) / 1000.0)
input_state_L = 0
pass
elif (Y1 < 0):
throttle = abs(float(32768 / Y1) / 1000.0)
input_state_R = 0
pass
if (X1 == 0):
pass
elif (X1 > 0):
pass
elif (X1 < 0):
pass
# print ("A = {0} , B = {1}").format(A, B)
# print ("{0} , {1}").format(input_state_L, input_state_R)
if (input_state_L == False and input_state_R == False):
GPIO.output(rled, 1)
GPIO.output(lled, 1)
# print(threading.enumerate())
try:
tForward_stop.set()
if (tForward.is_alive() == True):
tForward.join()
tBackward_stop.set()
if (tBackward.is_alive() == True):
tBackward.join()
except:
print('error occured')
print sys.exc_info()
off()
elif (input_state_L == False and input_state_R == True):
GPIO.output(rled, 0)
GPIO.output(lled, 1)
# print "forward"
# print (threading.enumerate())
try:
if (tForward.is_alive() != True):
# print ('start thread')
tForward_stop.clear()
# print tForward_stop.is_set()
tForward = threading.Thread(target=forward,
args=(1, tForward_stop))
tForward.start()
# print (threading.enumerate())
except:
print('error occured')
print sys.exc_info()
pass
elif (input_state_R == False and input_state_L == True):
GPIO.output(lled, 0)
GPIO.output(rled, 1)
# print "backward"
# print (threading.enumerate())
try:
if (tBackward.is_alive() != True):
# print ('start thread')
tBackward_stop.clear()
# print tBackward_stop.is_set()
tBackward = threading.Thread(target=backward,
args=(2, tBackward_stop))
tBackward.start()
# print (threading.enumerate())
except:
print('error occured')
print sys.exc_info()
pass
else:
GPIO.output(lled, 0)
GPIO.output(rled, 0)
# print('button stopped')
# print(threading.enumerate())
try:
tForward_stop.set()
if (tForward.is_alive() == True):
tForward.join()
tBackward_stop.set()
if (tBackward.is_alive() == True):
tBackward.join()
except:
print('error occured')
print sys.exc_info()
off()
def main():
global throttle
# Store controller values
A = 0
B = 0
Y1 = 0
X1 = 0
# Declare our threads
# Don't forget, set the threads as daemon to keep them from persisting
tForward_stop = threading.Event()
tForward = threading.Thread(target = forward, args=(1, tForward_stop))
tForward.daemon = True
tBackward_stop = threading.Event()
tBackward = threading.Thread(target = backward, args=(2, tBackward_stop))
tBackward.daemon = True
while True:
for event in xbox_read.event_stream(deadzone=12000):
# print str(event)
input_state_L = GPIO.input(lbutton)
input_state_R = GPIO.input(rbutton)
if ((event.key == "A") and (event.value == 1)):
A = 1
pass
elif((event.key == "A") and (event.value == 0)):
A = 0
pass
elif((event.key == "B") and (event.value == 1)):
B = 1
pass
elif((event.key == "B") and (event.value == 0)):
B = 0
pass
elif((event.key == "Y1")):
Y1 = event.value
pass
else:
pass
if (A == 0):
input_state_L = 1
pass
elif (A == 1):
input_state_L = 0
pass
if (B == 0):
input_state_R = 1
pass
elif (B == 1):
input_state_R = 0
pass
if (A == 0) and (B == 0):
if (Y1 == 0):
input_state_L = 1
input_state_R = 1
pass
elif (Y1 > 0):
throttle = abs(float(32768/Y1) / 1000.0)
input_state_L = 0
pass
elif (Y1 < 0):
throttle = abs(float(32768/Y1) / 1000.0)
input_state_R = 0
pass
if (X1 == 0):
pass
elif (X1 > 0):
pass
elif (X1 < 0):
pass
# print ("A = {0} , B = {1}").format(A, B)
# print ("{0} , {1}").format(input_state_L, input_state_R)
if (input_state_L == False and input_state_R == False):
GPIO.output(rled,1)
GPIO.output(lled,1)
# print(threading.enumerate())
try:
tForward_stop.set()
if (tForward.is_alive()==True):
tForward.join()
tBackward_stop.set()
if (tBackward.is_alive()==True):
tBackward.join()
except:
print('error occured')
print sys.exc_info()
off()
elif (input_state_L == False and input_state_R == True):
GPIO.output(rled,0)
GPIO.output(lled,1)
# print "forward"
# print (threading.enumerate())
try:
if (tForward.is_alive()!=True):
# print ('start thread')
tForward_stop.clear()
# print tForward_stop.is_set()
tForward = threading.Thread(target = forward, args=(1, tForward_stop))
tForward.start()
# print (threading.enumerate())
except:
print('error occured')
print sys.exc_info()
pass
elif (input_state_R == False and input_state_L == True):
GPIO.output(lled,0)
GPIO.output(rled,1)
# print "backward"
# print (threading.enumerate())
try:
if (tBackward.is_alive()!=True):
# print ('start thread')
tBackward_stop.clear()
# print tBackward_stop.is_set()
tBackward = threading.Thread(target = backward, args=(2, tBackward_stop))
tBackward.start()
# print (threading.enumerate())
except:
print('error occured')
print sys.exc_info()
pass
else:
GPIO.output(lled,0)
GPIO.output(rled,0)
# print('button stopped')
# print(threading.enumerate())
try:
tForward_stop.set()
if (tForward.is_alive()==True):
tForward.join()
tBackward_stop.set()
if (tBackward.is_alive()==True):
tBackward.join()
except:
print('error occured')
print sys.exc_info()
off()
#print "Stopping RobotArm Controller"
sys.exit(0)
# Capture Ctrl+C so we can shut down nicely
signal.signal(signal.SIGINT, signal_handler)
#print "Starting RobotArm Controller"
#print "Press Ctrl+C at any time to quit"
# Create our RobotArm
arm = RobotArm.RobotArm()
#GPIO.output(greenLightPin,GPIO.HIGH)
# Our main event loop
for event in xbox_read.event_stream(deadzone=DEADZONE):
#print "Xbox event: %s" % (event)
#Special case for LB and RB to control wrist
if (event.key == 'LB'):
direction = 1
elif (event.key == 'RB'):
direction = 2
# Special-case the B button, if it's been pressed, then toggle the light
elif (event.key == 'B'):
if (event.value > 0):
arm.toggleLight()
continue
# Special-case the A button, if it's being held, then we want the light
def run (self):
for event in xbox_read.event_stream(deadzone=12000):
event = str(event)
event = event.replace("Event","")
print colored(event,'red')
if event == "(Y,1,0)":
print("you pressed Y")
recorvva.send_msg("you pressed Y")
if event == "(Y,0,1)":
print("you released Y")
recorvva.send_msg("you released Y")
if event == "(X,1,0)":
print("you pressed X")
recorvva.send_msg("you pressed X")
if event == "(X,0,1)":
print("you released X")
recorvva.send_msg("you released X")
if event == "(A,1,0)":
print("you pressed A")
recorvva.send_msg("you pressed A")
if event == "(A,0,1)":
print("you released A")
recorvva.send_msg("you released A")
if event == "(B,1,0)":
print("you pressed B")
recorvva.send_msg("you pressed B")
if event == "(B,0,1)":
print("you released B")
recorvva.send_msg("you released B")
if event == "(RB,1,0)":
print("you pressed RB")
recorvva.send_msg("you pressed RB")
if event == "(RB,0,1)":
print("you released RB")
recorvva.send_msg("you released RB")
if event == "(LB,1,0)":
print("you pressed LB")
recorvva.send_msg("you pressed LB")
if event == "(LB,0,1)":
print("you released LB")
recorvva.send_msg("you released LB")
if event == "(dr,1,0)":
print("you pressed dr")
recorvva.send_msg("you pressed dr")
if event == "(dr,0,1)":
print("you released dr")
recorvva.send_msg("you released dr")
if event == "(du,1,0)":
print("you pressed du")
recorvva.send_msg("you pressed du")
if event == "(du,0,1)":
print("you released du")
recorvva.send_msg("you released du")
if event == "(dl,1,0)":
print("you pressed dl")
recorvva.send_msg("you pressed dl")
if event == "(dl,0,1)":
print("you released dl")
recorvva.send_msg("you released dl")
if event == "(dd,1,0)":
print("you pressed dd")
recorvva.send_msg("you pressed dd")
if event == "(dd,0,1)":
print("you released dd")
recorvva.send_msg("you released dd")
if event == "(TL,1,0)":
print("you pressed TL")
recorvva.send_msg("you pressed TL")
if event == "(TL,0,1)":
print("you released TL")
recorvva.send_msg("you released TL")
if event == "(TR,1,0)":
print("you pressed TR")
recorvva.send_msg("you pressed TR")
if event == "(TR,0,1)":
print("you released TR")
recorvva.send_msg("you released TR")
if event == "(back,1,0)":
print("you pressed back")
recorvva.send_msg("you pressed back")
if event == "(back,0,1)":
print("you released back")
recorvva.send_msg("you released back")
if event == "(start,1,0)":
print("you pressed start")
recorvva.send_msg("you pressed start")
if event == "(start,0,1)":
print("you released start")
recorvva.send_msg("you released start")
if event == "(guide,1,0)":
print("you pressed guide")
recorvva.send_msg("you pressed guide")
if event == "(guide,0,1)":
print("you released guide")
recorvva.send_msg("you released guide")
if event == "(RT,1,0)":
print("you pressed RT")
recorvva.send_msg("you pressed RT")
if event == "(RT,0,1)":
print("you released RT")
recorvva.send_msg("you released RT")
