robobuggy / joystick / joystick.py @ 08263708
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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('COM8', 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)+102 |
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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 () |