def triple_input_filter_all_input_scaled():
printer.name = "triple_input_filter_all_input_scaled"
printer.source = join_values(
scaled_pair(joystick_left.values, -10, 10, -100, 100),
scaled_pair(filter_messages(messages.values, type='JOYSTICK', id=0), -50, 50, -100, 100),
scaled_pair(filter_messages(messages.values, type='JOYSTICK', id=1), -10, 10, -100, 100),
)
def print_pantilt_three_combined_streams():
# Map input values from local and remote joysticks (scaled)
# Accepts remote 'PANTILT' messages that (scaling not required)
printer.name = "print_pantilt_three_combined_streams"
printer.source = join_values(
scaled_pair(joystick_left.values, 0, 180, -100, 100),
scaled_pair(filter_messages(messages.values, type='JOYSTICK', id=1), 0, 180, -100, 100),
filter_messages(messages.values, type='PANTILT', id=0)
)
def triple_input_pantilt_scaling_no_conversion():
pan_tilt.source = join_values(
filter_messages(messages.values, type='JOYSTICK', id=1),
filter_messages(messages.values, type='PANTILT', id=0),
scaled_pair(joystick_left.values, 0, 180, -100, 100),
)
def setUpClass():
VirtualJoystickTest.joystick0 = Joystick(MOTOR_JOYSTICK_ID)
VirtualJoystickTest.motors = Wheelbase(left=LEFT_MOTOR_ID,
right=RIGHT_MOTOR_ID)
VirtualJoystickTest.motors.source = steering_mixer(
VirtualJoystickTest.joystick0.values)
#VirtualJoystickTest.motors.source_delay = 0.1
VirtualJoystickTest.joystick1 = Joystick(PANTILT_JOYSTICK_ID)
VirtualJoystickTest.pan_tilt = PanTilt(pan=PAN_SERVO_ID,
tilt=TILT_SERVO_ID)
VirtualJoystickTest.pan_tilt.source = scaled_pair(
VirtualJoystickTest.joystick1.values, MAX_ANGLE, MIN_ANGLE,
JOY_AXIS_MIN, JOY_AXIS_MAX)
#VirtualJoystickTest.pan_tilt.source_delay = 0.1
# Setup Selenium
capabilities = DesiredCapabilities.CHROME
capabilities['loggingPrefs'] = {'browser': 'ALL'}
if VirtualJoystickTest.IS_CI_BUILD:
username = environ["SAUCE_USERNAME"]
access_key = environ["SAUCE_ACCESS_KEY"]
capabilities["tunnel-identifier"] = environ["TRAVIS_JOB_NUMBER"]
capabilities["build"] = environ["TRAVIS_BUILD_NUMBER"]
capabilities["tags"] = [environ["TRAVIS_PYTHON_VERSION"], "CI"]
hub_url = "%s:%s@localhost:4445" % (username, access_key)
VirtualJoystickTest.driver = webdriver.Remote(
desired_capabilities=capabilities,
command_executor="http://%s/wd/hub" % hub_url)
else:
#DRIVER = webdriver.Safari() # see: http://elementalselenium.com/tips/69-safari
#DRIVER = webdriver.Chrome() # see: https://sites.google.com/a/chromium.org/chromedriver/downloads
VirtualJoystickTest.driver = webdriver.Chrome(
desired_capabilities=capabilities)
VirtualJoystickTest.driver.implicitly_wait(BROWSER_WAIT_SECONDS)
VirtualJoystickTest.driver.maximize_window()
VirtualJoystickTest.driver.get("http://localhost:8000/")
VirtualJoystickTest.canvas = VirtualJoystickTest.driver.find_element_by_id(
"camera_view")
VirtualJoystickTest.fake_set_speed_called_values = [
OccuranceRecorder(allow_repeating_items=False),
OccuranceRecorder(allow_repeating_items=False)
]
VirtualJoystickTest.fake_set_angle_called_values = [
OccuranceRecorder(allow_repeating_items=False),
OccuranceRecorder(allow_repeating_items=False)
]
def robot():
wheelbase.source = steering_mixer(
join_values(
filter_messages(messages.values, type='JOYSTICK', id=0),
joystick_right.values
)
)
pan_tilt.source = join_values(
filter_messages(messages.values, type='PANTILT', id=0),
scaled_pair(
join_values(joystick_left.values, filter_messages(messages.values, type='JOYSTICK', id=1)), 180, 0, -100, 100),
# filter_messages(messages.values, type='PANTILT', id=0),
# scaled_pair(joystick_left.values, 0, 180, -100, 100),
# scaled_pair(filter_messages(messages.values, type='JOYSTICK', id=1), 0, 180, -100, 100),
)
def mock_robot():
printer.name = "mock_robot___WHEELS"
printer.source = steering_mixer(
join_values(
filter_messages(messages.values, type='JOYSTICK', id=0),
joystick_right.values
)
)
printer2.name = "mock_robot__PANTILT"
printer2.source = join_values(
filter_messages(messages.values, type='PANTILT', id=0),
scaled_pair(
join_values(joystick_left.values, filter_messages(messages.values, type='JOYSTICK', id=1)), 180, 0, -100, 100),
)
def mock_robot_builtin_pantilt_conversion():
printer.name = "mock_robot_builtin_pantilt_conversion___WHEELS"
printer.source = steering_mixer(
join_values(
filter_messages(messages.values, type='JOYSTICK', id=0),
joystick_right.values
)
)
printer2.name = "mock_robot_builtin_pantilt_conversion__PANTILT"
printer2.source = join_values(
filter_messages(messages.values, type='PANTILT', id=0),
pantilt_converter(
join_values(
scaled_pair(joystick_left.values, -10, 10, -100, 100),
filter_messages(messages.values, type='JOYSTICK', id=1),
)
)
)
def dual_triple_input_filter_all_input_scaled_pantilt_conversion():
printer.name = "dual_triple_input_filter_all_input_scaled_pantilt_conversion__ONE"
printer.source = pantilt_converter(
join_values(
scaled_pair(joystick_left.values, -10, 10, -100, 100),
scaled_pair(filter_messages(messages.values, type='JOYSTICK', id=0), -50, 50, -100, 100),
scaled_pair(filter_messages(messages.values, type='JOYSTICK', id=1), -10, 10, -100, 100),
)
)
printer2.name = "dual_triple_input_filter_all_input_scaled_pantilt_conversion__TWO"
printer2.source = pantilt_converter(
join_values(
scaled_pair(joystick_left.values, -10, 10, -100, 100),
scaled_pair(filter_messages(messages.values, type='JOYSTICK', id=0), -50, 50, -100, 100),
scaled_pair(filter_messages(messages.values, type='JOYSTICK', id=1), -10, 10, -100, 100),
)
)
#!/usr/bin/python3
# see: https://github.com/CamJam-EduKit/EduKit3
from gpiozero import CamJamKitRobot
from picraftzero import Joystick, steering_mixer, scaled_pair, start
robot = CamJamKitRobot()
joystick = Joystick()
robot.source = scaled_pair(steering_mixer(joystick.values),
-1.0,
1.0,
input_min=-100,
input_max=100)
start()
from picraftzero.config import get_config
config = get_config()
script_file = config.get('service', 'script', fallback=None)
if script_file:
logger.info("Running user script: {}".format(script_file))
with open(script_file) as f:
code = compile(f.read(), script_file, 'exec')
exec(code)
# user script is expected to exit with an error code or 0, so shouldnt reach here
exit(1)
# see the `pantilt.py` example for more info.
from picraftzero import Wheelbase, PanTilt, Joystick, steering_mixer, scaled_pair, start, filter_messages, MessageReceiver, join_values
joystick_right = Joystick(0)
joystick_left = Joystick(1)
messages = MessageReceiver(port=8001)
wheelbase = Wheelbase(left=1, right=0)
pan_tilt = PanTilt(pan=0, tilt=1)
wheelbase.source = steering_mixer(joystick_right.values)
pan_tilt.source = join_values(
filter_messages(messages.values, type='PANTILT', id=0),
scaled_pair(joystick_left.values, 180, 0, -100, 100))
if __name__ == '__main__':
start()
def print_local_joystick_scaled():
printer.name = "print_local_joystick_scaled"
printer.source = scaled_pair(joystick_right.values, 180, 0, -100, 100)