def _read_stream():
print("Started reading")
for event in xbox_read.event_stream(deadzone=12000):
if event.key == 'X2':
self.base = event
if event.key == 'X1':
self.lower = event
if event.key == 'Y1':
self.upper = event
if event.key == 'LT':
self.jaws = event
self.jaws.value = -1 * self.jaws.value
if event.key == 'RT':
self.jaws = event
def _read_stream():
print("Started reading")
for event in xbox_read.event_stream(deadzone=12000):
if event.key == 'X2':
self.base = event
if event.key == 'X1':
self.lower = event
if event.key == 'Y1':
self.upper = event
if event.key == 'LT':
self.jaws = event
self.jaws.value = -1 * self.jaws.value
if event.key == 'RT':
self.jaws = event
def right_joystick():
global thrust, pitch, roll, yaw, handshake, commandString
for event in xbox_read.event_stream(deadzone=2000, scale=255):
if event.key == 'RT' or event.key == 'LT':
thrust = event.value
elif event.key == 'X1': #left stick
yaw = event.value
elif event.key == 'X2':
roll = event.value
elif event.key == 'Y2':
pitch = event.value
if(handshake == 1):
commandString = formatCommand(CMD_TYPE) #if we can we combine them to send off
def right_joystick():
global thrust, pitch, roll, yaw, handshake, commandString
for event in xbox_read.event_stream(deadzone=2000, scale=255):
if event.key == 'RT' or event.key == 'LT':
thrust = event.value
elif event.key == 'X1': #left stick
yaw = event.value
elif event.key == 'X2':
roll = event.value
elif event.key == 'Y2':
pitch = event.value
if (handshake == 1):
commandString = formatCommand(
CMD_TYPE) #if we can we combine them to send off
ser = serial.Serial('/dev/ttyUSB0', 57600)
ser.write('test')
LALOG = 0
RALOG = 0
BOOM = 0
STAB = 0
rate = 331
boolh = True
booll = False
boolg = True
faster = True
for event in xbox_read.event_stream(deadzone=6000):
# print(ser.read())
# Speed and direction
if event.key == 'Y1':
ldata = 'L'
LALOG = event.value
if LALOG >= 0:
ldata += '+'
else:
ldata += '-'
LALOG *= -1
LALOG = int(LALOG / rate)
ldata += str(LALOG)
ser.write(ldata + '\n')
print(ldata)
#setup gpio
GPIO.setmode(GPIO.BOARD)
#create motor control
motors = motorControl.MotorController()
#setup xbox controller values
x1 = 0
y1 = 0
#TODO
#yButton = False
#bButton = False
#read xbox controller event stream
for event in xbox_read.event_stream(deadzone=7000, scale=101):
#TODO - if the Y button and B button are both pressed, exit
#it does exit but the program does finish due to xbox_read not exiting!
#if event.key=='Y': yButton = event.is_press()
#if event.key=='B': bButton = event.is_press()
#if yButton and bButton: break
#analogue stick
if event.key=='X1':
x1 = event.value
#print("X1 - " + str(event.value))
if event.key=='Y1':
y1 = event.value
#print("Y1 - " + str(event.value))
thumbstickMin = -32768
thumbstickMax = 32767
def mapValue(value, leftMin, leftMax, rightMin, rightMax):
# Taken from http://stackoverflow.com/questions/1969240/mapping-a-range-of-values-to-another
# Figure out how 'wide' each range is
leftSpan = leftMax - leftMin
rightSpan = rightMax - rightMin
# Convert the left range into a 0-1 range (float)
valueScaled = float(value - leftMin) / float(leftSpan)
# Convert the 0-1 range into a value in the right range.
return rightMin + (valueScaled * rightSpan)
for event in xbox_read.event_stream(deadzone=12000):
#Left thumbstick up/down controls speed
if event.key == 'Y1':
#map the thumbstick's value to the bot's driving speed
vel = mapValue(event.value, thumbstickMin, thumbstickMax, -250, 250)
print 'Driving'
bot.drive_straight(vel)
#Right thumbstick left/right controls rotation
if event.key == 'X2':
# Map the thumbstick's value to the bot's rotation
if event.value > 0:
# Thumbstick moved right
print 'Steering Right'
print event.value
vel = mapValue(event.value, 0, thumbstickMax, 0, 100)
#setup gpio
GPIO.setmode(GPIO.BOARD)
#create motor control
motors = motorControl.MotorController()
#setup xbox controller values
x1 = 0
y1 = 0
#TODO
#yButton = False
#bButton = False
#read xbox controller event stream
for event in xbox_read.event_stream(deadzone=7000, scale=101):
#TODO - if the Y button and B button are both pressed, exit
#it does exit but the program does finish due to xbox_read not exiting!
#if event.key=='Y': yButton = event.is_press()
#if event.key=='B': bButton = event.is_press()
#if yButton and bButton: break
#analogue stick
if event.key == 'X1':
x1 = event.value
#print("X1 - " + str(event.value))
if event.key == 'Y1':
y1 = event.value
#print("Y1 - " + str(event.value))
#!/usr/bin/env python
from grizzly import *
from xbox_read import event_stream
g = Grizzly()
g.set_mode(ControlMode.NO_PID, DriveMode.DRIVE_BRAKE)
g.limit_acceleration(20)
g.limit_current(5)
inputs = event_stream(4000)
for event in inputs:
if event.key == "Y2":
throttle = int(event.value) / 328
g.set_target(throttle)
if event.key == "A":
print("Current: " + str(g.read_motor_current()) + "Encoder: " + str(g.read_encoder()))
# Appendix: Keys
# --------------
# Key: Range of values:
# X1 -32768 : 32767
# Y1 -32768 : 32767
# X2 -32768 : 32767
# Y2 -32768 : 32767
# du 0, 1
# dd 0, 1
# dl 0, 1
# dr 0, 1
# back 0, 1
#!/usr/bin/env python
from grizzly import *
from xbox_read import event_stream
g = Grizzly()
g.set_mode(ControlMode.NO_PID, DriveMode.DRIVE_BRAKE)
g.limit_acceleration(20)
g.limit_current(5)
inputs = event_stream(4000)
for event in inputs:
if event.key == "Y2":
throttle = int(event.value) / 328
g.set_target(throttle)
if event.key == "A":
print("Current: " + str(g.read_motor_current()) + "Encoder: " +
str(g.read_encoder()))
# Appendix: Keys
# --------------
# Key: Range of values:
# X1 -32768 : 32767
# Y1 -32768 : 32767
# X2 -32768 : 32767
# Y2 -32768 : 32767
# du 0, 1
# dd 0, 1
# dl 0, 1
# dr 0, 1
# back 0, 1
import xbox_read stream = xbox_read.event_stream(deadzone=12000) for event in stream: print event