class ScreenTwo(Screen):
joystick = Joystick(0, True)
button_state = ObjectProperty(0)
def __init__(self, **kwargs):
Builder.load_file('ScreenTwo.kv')
super(ScreenTwo, self).__init__(**kwargs)
self.anim = ()
def go_back(self):
PauseScreen.pause(pause_scene_name='pauseScene',
transition_back_scene='main',
text="Test",
pause_duration=1)
def animate(self):
self.anim = Animation(x=.1, y=.1) & Animation(size=(400, 200))
self.anim.start(self.ids.animate_button)
def joy_update(self):
while 1:
self.ids.joystick.center_x = joystick.get_axis('x') * self.width
self.ids.joystick.center_y = joystick.get_axis('y') * -self.height
self.ids.joystick.text = "{:.3f} {:.3f}".format(
joystick.get_axis('x'), joystick.get_axis('y'))
self.button_state = self.joystick.get_button_state(0)
sleep(.1)
def start_joy_thread(self):
Thread(target=self.joy_update, args=()).start()
class MainScreen(Screen):
counter = StringProperty("0")
toggle = ObjectProperty(False)
joystick = Joystick(0, False)
X_axis = ObjectProperty(0.0)
Y_axis = ObjectProperty(0.0)
def joystick_thread(self):
while 1:
self.joystick.refresh()
self.X_axis = self.joystick.get_axis('x')
self.Y_axis = self.joystick.get_axis('y')
#print(self.X_axis)
def start_joystick_Thread(self):
Thread(target=self.joystick_thread).start()
"""
Class to handle the main screen and its associated touch events
"""
def pressed_counter(self):
tempCounter = int(self.counter)
tempCounter += 1
self.counter = str(tempCounter)
def pressed_motor_toggle(self):
self.toggle = not self.toggle
def pressed(self):
"""
Function called on button touch event for button with id: testButton
:return: None
"""
#PauseScreen.pause(pause_scene_name='pauseScene', transition_back_scene='main', text="Test", pause_duration=5)
PauseScreen.pause(pause_scene_name='pauseScene',
transition_back_scene='button',
text="LOADING BUTTON SCREEN FOR YOU",
pause_duration=2)
#SCREEN_MANAGER.current = 'button'
def admin_action(self):
"""
Hidden admin button touch event. Transitions to passCodeScreen.
This method is called from pidev/kivy/PassCodeScreen.kv
:return: None
"""
SCREEN_MANAGER.current = 'passCode'
class MainScreen(Screen):
"""
Class to handle the main screen and its associated touch events
"""
string_count = StringProperty()
condition = ObjectProperty()
joystick = Joystick(0, True)
x_axis = ObjectProperty(0, 0)
y_axis = ObjectProperty(0, 0)
def joystick_thread(self):
while 1:
self.joystick.refresh()
self.x_axis = self.joystick.get_axis('x')
self.y_axis = self.joystick.get_axis('y')
self.ids.dog.text = str(self.joystick.get_button_state(0))
def start_Joystick_Thread(self):
Thread(target=self.joystick_thread).start()
def __init__(self, **kwargs):
super(MainScreen, self).__init__(**kwargs)
self.count = 0
self.condition = False
def pressed(self):
self.count = self.count + 1
self.string_count = str(self.count)
def press(self):
PauseScreen.pause(pause_scene_name='pauseScene',
transition_back_scene=FARMYARD_SCREEN_NAME,
text="Weeeeeee!",
pause_duration=1)
def motor_pressed(self):
self.condition = not self.condition
def admin_action(self):
"""
Hidden admin button touch event. Transitions to passCodeScreen.
This method is called from pidev/kivy/PassCodeScreen.kv
:return: None
"""
SCREEN_MANAGER.current = 'passCode'
class Farmyard(Screen):
joystick = Joystick(0, True)
joy_val_x = ObjectProperty(0)
joy_val_y = ObjectProperty(0)
joy_trigger_label = ObjectProperty(0)
def __init__(self, **kwargs):
Builder.load_file('Farmyard.kv')
PassCodeScreen.set_transition_back_screen(MAIN_SCREEN_NAME)
super(Farmyard, self).__init__(**kwargs)
def update(self):
while 1:
self.joy_val_x = joystick.get_axis('x')
self.joy_val_y = joystick.get_axis('y')
self.joy_trigger_label = self.joystick.get_button_state(0)
sleep(.1)
def joy_thread(self):
Thread(target=self.update, args=()).start()
def transition_back(self):
SCREEN_MANAGER.current = MAIN_SCREEN_NAME
def back(self):
PauseScreen.pause(pause_scene_name='pauseScene',
transition_back_scene='main',
text="Test",
pause_duration=5)
"""
Function called on button touch event for button with id: testButton
:return: None
"""
def animation(self):
anim = Animation(x=50, y=50) & Animation(size=(200, 200))
anim.start(self.ids.logo_image_button)
from kivy.properties import ObjectProperty
from kivy.uix.slider import Slider
from kivy.animation import Animation, AnimationTransition
from threading import Thread
from time import sleep
from pidev.MixPanel import MixPanel
from pidev.kivy.PassCodeScreen import PassCodeScreen
import pidev.kivy.PauseScreen
from pidev.kivy import DPEAButton
from pidev.kivy import ImageButton
from pidev.Joystick import Joystick
MIXPANEL_TOKEN = "x"
MIXPANEL = MixPanel("Project Name", MIXPANEL_TOKEN)
joystick = Joystick(0, False)
SCREEN_MANAGER = ScreenManager()
MAIN_SCREEN_NAME = 'main'
ADMIN_SCREEN_NAME = 'admin'
IMAGE_SCREEN_NAME = 'image'
class ProjectNameGUI(App):
"""
Class to handle running the GUI Application
"""
def build(self):
"""
Build the application
:return: Kivy Screen Manager instance
from pidev.MixPanel import MixPanel
from pidev.kivy.PassCodeScreen import PassCodeScreen
from pidev.kivy.PauseScreen import PauseScreen
from pidev.kivy import DPEAButton
from pidev.kivy import ImageButton
MIXPANEL_TOKEN = "x"
MIXPANEL = MixPanel("Project Name", MIXPANEL_TOKEN)
SCREEN_MANAGER = ScreenManager()
MAIN_SCREEN_NAME = 'main'
ADMIN_SCREEN_NAME = 'admin'
TRANSITION_SCREEN_NAME = 'TransitionScreen'
ctr = 1
ctr2 = 0
joystick = Joystick(0, True)
class ProjectNameGUI(App):
"""
Class to handle running the GUI Application
"""
def build(self):
"""
Build the application
:return: Kivy Screen Manager instance
"""
return SCREEN_MANAGER
Window.clearcolor = (1, 1, 1, 1) # White
from time import sleep
import odrive
import ODrive_Ease_Lib
from pidev.Joystick import Joystick
joystick = Joystick(0, False)
OD = odrive.find_any()
axis_1 = ODrive_Ease_Lib.ODrive_Axis(OD.axis1)
axis_0 = ODrive_Ease_Lib.ODrive_Axis(OD.axis0)
restricted_length = 20000
def run_x_axis():
pos = axis_1.get_pos()
if pos < (full_length -
restricted_length) and joystick.get_axis('x') < -.05:
axis_1.set_vel(vel_speed * -joystick.get_axis('x'))
elif pos > restricted_length and joystick.get_axis('x') > .05:
axis_1.set_vel(vel_speed * -joystick.get_axis('x'))
else:
axis_1.set_vel(0)
def run_y_axis():
class JoyScreen(Screen):
joystick = Joystick(0, True)
nma = ObjectProperty(None)
aer = ObjectProperty(None)
arm = ObjectProperty(None)
now = ObjectProperty(None)
gamer = ObjectProperty(None)
gamet = ObjectProperty(None)
global event1
global event2
global event3
global event4
global a
a = 1
global glob
glob = 1
global x
global ad
global keyboard
x = 1
global ft
ft = 2
def startThread(self):
print("Thread")
self.gamet.text = "Running using threads."
Thread(target=self.threads).start()
Thread.daemon = True
def _keyboard_closed(self):
self._keyboard.unbind(on_key_down=self.arrowcontrol)
self._keyboard = None
def threads(self):
while SCREEN_MANAGER.current == JOY_SCREEN_NAME:
self.callback(1)
if(x==1):
self.cords(1)
self.combo(1)
self.backroundc(1)
sleep(.01)
print("Thread ended")
def callback(self,dt):
print("afdfs")
if(self.joystick.get_button_state(1)==1):
self.nma.text = "Button 1 on"
else:
self.nma.text = "Button 1 off"
def cords(self,dt):
self.arm.text = "x:%f y:%f" % (self.joystick.get_both_axes()[0],self.joystick.get_both_axes()[1])
self.arm.x = self.joystick.get_both_axes()[0]*Window.size[0] * 1/2
self.arm.y = -self.joystick.get_both_axes()[1]*Window.size[1] * 1/2
def backroundc(self,dt):
global ft
random.seed(ft)
if(self.joystick.get_button_state(0)==1):
Window.clearcolor = (random.random(),random.random(),random.random(),1)
s = self.aer.text
self.aer.text = "A"
self.aer.text = "%s" % s
ft = self.arm.x + self.arm.y
def combo(self,dt):
list = [1,2,3]
if(self.joystick.button_combo_check(list)==1):
self.aer.text = "Combo of 123 active"
else:
self.aer.text = "Combo of 123 not active"
def __init__(self, **kwargs):
Builder.load_file('joyScreen.kv')
super(JoyScreen, self).__init__(**kwargs)
self.arm.y = 0
self.arm.x = 0
def hi(self,df):
print("hi")
def canceled(self):
global event1
global event2
global event3
global event4
event1.cancel()
event2.cancel()
event3.cancel()
event4.cancel()
print("Clock Canceled")
def events(self):
print("Clock")
self.gamet.text = "Running using clock scheduling."
global a
a = 2
global event1
global event2
global event3
global event4
event1 = Clock.schedule_interval(self.callback, 1/100)
event2 = Clock.schedule_interval(self.combo, 1/100)
event4 = Clock.schedule_interval(self.backroundc, 1 / 100)
event3 = Clock.schedule_interval(self.cords, 1/100)
def yes(self):
if(x == 2):
self.arrowcontrolon()
if(a == 2):
self.canceled() # commit this out to switch to thread instead of clock.
SCREEN_MANAGER.current = MAIN_SCREEN_NAME
def arrowcontrolon(self):
global event3
global x
global ad
global glob
if(x == 1):
if(a == 2):
event3.cancel()
self._keyboard = Window.request_keyboard(self._keyboard_closed, self)
self._keyboard.bind(on_key_down=self.arrowcontrol)
self.gamer.text = "Arrow control on"
x = 2
else:
self._keyboard.release()
if(a==2):
event3 = Clock.schedule_interval(self.cords, 1/100)
self.gamer.text = "Arrow control off"
x = 1
def arrowcontrol(self, keyboard, keycode, text, modifiers):
self.arm.text = "x:%f y:%f" % (self.arm.x/400, self.arm.y/300)
print("%s"% keycode[1])
if(keycode[1]=="w"):
if(self.arm.y<300):
self.arm.y = self.arm.y + 5
else:
self.arm.y = 300
elif(keycode[1]=="s"):
if(self.arm.y>(-300)):
self.arm.y = self.arm.y - 5
else:
self.arm.y = -300
elif(keycode[1]=="d"):
if(self.arm.x<400):
self.arm.x = self.arm.x + 5
else:
self.arm.x = 400
elif (keycode[1]=="a"):
if(self.arm.x > (-400)):
self.arm.x = self.arm.x - 5
else:
self.arm.x = -400
elif (keycode[1] == "up"):
if (self.arm.y < 300):
self.arm.y = self.arm.y + 20
else:
self.arm.y = 300
elif (keycode[1] == "down"):
if (self.arm.y > (-300)):
self.arm.y = self.arm.y - 20
else:
self.arm.y = -300
elif (keycode[1] == "right"):
if (self.arm.x < 400):
self.arm.x = self.arm.x + 20
else:
self.arm.x = 400
elif (keycode[1] == "left"):
if (self.arm.x > (-400)):
self.arm.x = self.arm.x - 20
else:
self.arm.x = -400
from time import sleep
import odrive
import ODrive_Ease_Lib
from pidev.Joystick import Joystick
joystick = Joystick(0, False)
OD = odrive.find_any()
axis = ODrive_Ease_Lib.ODrive_Axis(OD.axis1)
if __name__ == '__main__':
axis.clear_errors()
axis.cpr(4096)
axis.calibrate()
axis.home_with_vel(-5000, -1.0)
print(axis.zero)
print(axis.get_pos())
# cpr encoder 8096 length: 112816
full_length = 56427
restricted_length = 10000
middle = full_length / 2
axis.set_vel_limit(250000)
switch = True
try:
while True:
class ProjectNameGUI(App):
"""
Class to handle running the GUI Application
"""
def build(self):
"""
Build the application
:return: Kivy Screen Manager instance
"""
return SCREEN_MANAGER
Window.clearcolor = (1, 1, 1, 1) # White
jstick = Joystick(number=0, ssh_deploy=False)
class ImageScreen(Screen):
def ret(self, widg):
anim = Animation(size=(400, 400)) + Animation(size=(80, 80))
anim.start(widg)
SCREEN_MANAGER.current = MAIN_SCREEN_NAME
class MainScreen(Screen):
"""
Class to handle the main screen and its associated touch events
"""
def joy_update(self):
while True:
class MainScreen(Screen):
"""
Class to handle the main screen and its associated touch events
"""
joystick = Joystick(0, True)
countButton = ObjectProperty(None)
counter = 0
x_position_joystick1 = ObjectProperty()
y_position_joystick1 = ObjectProperty()
def pressed(self):
"""
Function called on button touch event for button with id: testButton
:return: None
"""
PauseScreen.pause(pause_scene_name='pauseScene',
transition_back_scene='main',
text="Test",
pause_duration=1)
def admin_action(self):
"""
Hidden admin button touch event. Transitions to passCodeScreen.
This method is called from pidev/kivy/PassCodeScreen.kv
:return: None
"""
SCREEN_MANAGER.current = 'passCode'
def iterateButton(self, val):
return str(int(val) + 1)
def changeButton(self, val):
if val == "On":
return "Off"
else:
return "On"
def changeMotorLabel(self, val):
if val == "Motor On":
return "Motor Off"
else:
return "Motor On"
def goToNewScreen(self):
SCREEN_MANAGER.current = NEW_SCREEN
def start_joy_thread(self):
x = Thread(target=self.updateJoystick)
x.start()
def updateJoystick(self):
while True:
# print("hello")
self.x_position_joystick1 = self.joystick.get_axis('x')
self.ids.PositionJoystick.center_x = (self.x_position_joystick1 *
(self.width / 2) +
(self.width / 2))
self.y_position_joystick1 = self.joystick.get_axis('y')
self.ids.PositionJoystick.center_y = (self.y_position_joystick1 *
(self.height / 2) +
(self.height / 2))
self.ids.PositionJoystick.text = "x= {:.3f}, y= {:.3f}".format(
self.joystick.get_axis('x'), self.joystick.get_axis('y'))
sleep(.1)
"""
Method to test Odrive with a joystick
currently being used for tests with Tippy Maze set up
"""
from time import sleep
import odrive
import ODrive_Ease_Lib
from pidev.Joystick import Joystick
# declaring joystick
joystick = Joystick(0, False)
# finding the odrive and setting the axis
OD = odrive.find_any()
axis = ODrive_Ease_Lib.ODrive_Axis(OD.axis0)
if __name__ == '__main__':
axis.clear_errors()
axis.calibrate()
# direction of homing determined by the way the ODrive is connected and subject to change
axis.home_with_vel(5000, -1.0)
print(axis.zero
) # prints the location of the 0 in the raw position of the ODrive
print(axis.get_pos(), " ", axis.get_raw_pos())
axis.set_curr_limit(28)
class NewScreen(Screen):
if_then = False
joystick = Joystick(0, True)
def __init__(self, **kwargs):
Builder.load_file('NewScreen.kv')
super(NewScreen, self).__init__(**kwargs)
def thread_function(self):
y = threading.Thread(target=self.joystick1, daemon=True)
y.start()
def joystick1(self):
while True:
self.ids.location.x = self.joystick.get_axis('x') * (self.width /
2)
self.ids.location.y = self.joystick.get_axis('y') * -(self.height /
2)
self.ids.location.text = "{:.3f} {:1.3f}".format(
self.joystick.get_axis('x'), (self.joystick.get_axis('y')))
for x in range(11):
if self.joystick.get_button_state(x) == 1:
self.ids.updates.text = str(x)
break
else:
self.ids.updates.text = "No button depressed"
if (-.9 * (self.width / 2)) <= self.ids.location.x <= (-.5 * (self.width / 2)) and \
(-.4 * (self.height / 2)) <= self.ids.location.y <= (-.0001 * (self.height / 2)):
pass
else:
self.ids.on.text = "Not Pressed"
if (-.9 * (self.width / 2)) <= self.ids.location.x <= (-.5 * (self.width / 2)) and \
(-.4 * (self.height / 2)) <= self.ids.location.y <= (-.0001 * (self.height / 2)) and \
self.joystick.get_button_state(0) == 0 and self.if_then == False:
self.if_then = True
self.ids.on.text = "Not Pressed"
if (-.9 * (self.width / 2)) <= self.ids.location.x <= (-.5 * (self.width / 2)) and \
(-.4 * (self.height / 2)) <= self.ids.location.y <= (-.0001 * (self.height / 2)) and \
self.if_then and self.joystick.get_button_state(0) == 1:
self.ids.on.text = "Pressed!"
self.if_then = False
time.sleep(.1)
def mainscreen(self):
SCREEN_MANAGER.current = MAIN_SCREEN_NAME
def animation(self):
self.anim = Animation(x=50, y=100, duration=2.) & Animation(
size=(200, 200), duration=2.)
for w in range(3):
self.anim += Animation(x=750, y=300, duration=.05) & Animation(
size=(50, 50), duration=.05)
self.anim += Animation(x=200, y=600, duration=.05) & Animation(
size=(500, 500), duration=.05)
self.anim += Animation(x=5, y=300, duration=.05) & Animation(
size=(200, 200), duration=.05)
self.anim += Animation(x=600, y=10, duration=.05) & Animation(
size=(10, 10), duration=.05)
self.anim += Animation(x=400, y=75, duration=2.) & Animation(
size=(120, 120), duration=2.)
self.anim.start(self.ids.animation)
class JoyScreen(Screen):
joystick = Joystick(0, False)
X_axis = ObjectProperty(0.0)
Y_axis = ObjectProperty(0.0)
def __init__(self, **kwargs):
Builder.load_file('joyScreen')
super(JoyScreen, self).__init__(**kwargs)
def switch_text2(self):
list = [1]
if self.joystick.button_combo_check(list)==1:
self.lbz.text = ""
self.lb0.text = "Ready"
self.xy.color = 0, 1, 0, 1
if self.joystick.get_button_state(0) == 0:
self.lb0.text = "Ready"
self.xy.color = 0, 1, 0, 1
else:
self.lb0.text = ""
self.xy.color = 1, 0, 0, 1
self.counter()
else:
self.lbz.text = "Hold 2"
self.lb0.text = ""
self.xy.color = 1, 1, 1, 1
def joystick_thread(self):
while 1:
self.joystick.refresh()
self.X_axis = self.joystick.get_axis('x') * Window.size[0] * 1/2
self.Y_axis = self.joystick.get_axis('y') * Window.size[1] * 1/2
# self.switch_text()
self.switch_text2()
sleep(1/200)
# print(self.X_axis)
def start_joystick_thread(self):
Thread(target=self.joystick_thread).start()
def transition_back(self):
"""
Transition back to the main screen
:return:
"""
SCREEN_MANAGER.current = MAIN_SCREEN_NAME
global xin
xin = 0
global x
def counter(self):
global xin
global x
xin = xin + 1
if xin == 1000:
xin = 0
else:
print ("%d" % xin)
x = "%d" % xin
random.seed(x)
Window.clearcolor = (random.random(), random.random(), random.random(), 1000)
