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robobuggy / joystick / joystick.py @ 02df64f0

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import pygame
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import serial
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# Define some colors
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BLACK    = (   0,   0,   0)
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WHITE    = ( 255, 255, 255)
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# This is a simple class that will help us print to the screen
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# It has nothing to do with the joysticks, just outputing the
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# information.
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class TextPrint:
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    def __init__(self):
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        self.reset()
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        self.font = pygame.font.Font(None, 20)
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    def printt(self, screen, textString):
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        textBitmap = self.font.render(textString, True, BLACK)
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        screen.blit(textBitmap, [self.x, self.y])
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        self.y += self.line_height
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    def reset(self):
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        self.x = 10
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        self.y = 10
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        self.line_height = 15
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    def indent(self):
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        self.x += 10
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    def unindent(self):
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        self.x -= 10
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pygame.init()
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# Set the width and height of the screen [width,height]
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size = [500, 700]
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screen = pygame.display.set_mode(size)
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pygame.display.set_caption("My Game")
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#Loop until the user clicks the close button.
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done = False
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# Used to manage how fast the screen updates
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clock = pygame.time.Clock()
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# Initialize the joysticks
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pygame.joystick.init()
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# Get ready to print
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textPrint = TextPrint()
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# Set starting values
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steeringAngle = 0
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brake = 1
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# Open serial port
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ser = serial.Serial('COM12', 9600, timeout=5)
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# -------- Main Program Loop -----------
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while done==False:
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    # EVENT PROCESSING STEP
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    for event in pygame.event.get(): # User did something
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        if event.type == pygame.QUIT: # If user clicked close
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            done=True # Flag that we are done so we exit this loop
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        # Possible joystick actions: JOYAXISMOTION JOYBALLMOTION JOYBUTTONDOWN JOYBUTTONUP JOYHATMOTION
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        if event.type == pygame.JOYBUTTONDOWN:
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            print("Joystick button pressed.")
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        if event.type == pygame.JOYBUTTONUP:
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            print("Joystick button released.")
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    # DRAWING STEP
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    # First, clear the screen to white. Don't put other drawing commands
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    # above this, or they will be erased with this command.
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    screen.fill(WHITE)
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    textPrint.reset()
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    # Get count of joysticks
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    joystick_count = pygame.joystick.get_count()
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    textPrint.printt(screen, "Number of joysticks: {}".format(joystick_count) )
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    textPrint.indent()
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    # For each joystick:
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    for i in range(joystick_count):
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        joystick = pygame.joystick.Joystick(i)
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        joystick.init()
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        textPrint.printt(screen, "Joystick {}".format(i) )
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        textPrint.indent()
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        # Get the name from the OS for the controller/joystick
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        name = joystick.get_name()
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        textPrint.printt(screen, "Joystick name: {}".format(name) )
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        # Usually axis run in pairs, up/down for one, and left/right for
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        # the other.
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        axes = joystick.get_numaxes()
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        textPrint.printt(screen, "Number of axes: {}".format(axes) )
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        textPrint.indent()
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        for i in range( axes ):
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            axis = joystick.get_axis( i )
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            textPrint.printt(screen, "Axis {} value: {:>6.3f}".format(i, axis) )
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            if i == 0:
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                steeringAngle = axis
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        textPrint.unindent()
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        buttons = joystick.get_numbuttons()
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        textPrint.printt(screen, "Number of buttons: {}".format(buttons) )
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        textPrint.indent()
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        for i in range( buttons ):
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            button = joystick.get_button( i )
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            textPrint.printt(screen, "Button {:>2} value: {}".format(i,button) )
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            if button == 1:
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                if i == 1:
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                    brake = 0;
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                elif i == 3:
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                    brake = 1;
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        textPrint.unindent()
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        # Hat switch. All or nothing for direction, not like joysticks.
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        # Value comes back in an array.
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        hats = joystick.get_numhats()
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        textPrint.printt(screen, "Number of hats: {}".format(hats) )
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        textPrint.indent()
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        for i in range( hats ):
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            hat = joystick.get_hat( i )
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            textPrint.printt(screen, "Hat {} value: {}".format(i, str(hat)) )
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        textPrint.unindent()
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        textPrint.unindent()
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    # ALL CODE TO DRAW SHOULD GO ABOVE THIS COMMENT
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    # Go ahead and update the screen with what we've drawn.
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    pygame.display.flip()
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    sAngle = (-1.0*(steeringAngle - 1))/2.0
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    sAngle = (sAngle*60)+95
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    # sAngle = (sAngle*range of motion)+minimum value
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    sAngle = int(sAngle)
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    if sAngle > 180:
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        sAngle = 180
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    # send data through xbee
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    currentpacket = 'A'+str(sAngle)+'B'+str(brake)+'C'
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    print currentpacket
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    ser.write('A')
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    ser.write(str(sAngle))
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    ser.write('B')
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    ser.write(str(brake))
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    ser.write('C')
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    # Limit to 20 frames per second
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    #clock.tick(20)
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    clock.tick(8)
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ser.close()
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# Close the window and quit.
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# If you forget this line, the program will 'hang'
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# on exit if running from IDLE.
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pygame.quit ()