Revision 347a6e5d
Added keyboard-driven backup. Needs calibration
joystick/keyboard.py | ||
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# Keyboard Driver for buggy |
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# Do not run this from IDLE! |
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# You must run this from the shell (and currently on windows) |
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# to make this work properly. |
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import serial |
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from threading import Thread |
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from time import sleep |
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import msvcrt # Recieve keypresses |
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# Set starting values |
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steeringAngle = 0 # Steering angle, "in degrees" (not really) |
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# between -1 and 1. |
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brake = 1 |
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# Thread sync |
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ending = 0 |
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def send_packet(servoAngle, brake): |
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currentpacket = 'A'+str(servoAngle)+'B'+str(brake)+'C' |
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print currentpacket |
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if(ser == None): |
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return |
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ser.write('A') |
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ser.write(str(servoAngle)) |
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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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def send_packet_thread(): |
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print "Send Packet thread started!" |
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while(True): |
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if(ending==1): |
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print "Shutting down send_packet thread..." |
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break; |
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sleep(0.3) |
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servo_angle = get_servo_position(steeringAngle) |
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send_packet(servo_angle, brake) |
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def keyloop_thread(): |
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global steeringAngle |
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global ending |
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print "Keyloop started, press 'p' to quit" |
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while(True): |
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if(ending==1): |
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print "Shutting down keyloop thread..." |
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break; |
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sleep(.1) |
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key = ord(msvcrt.getch()) # getch is blocking |
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if key == 97: # 'a' |
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steeringAngle -= .1 |
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print " L : New angle:", steeringAngle |
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elif key == 100: # 'd' |
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steeringAngle += .1 |
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print " R : New angle:", steeringAngle |
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elif key==255: # Stop running from idle! |
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print "NONONO - STOP RUNNING FROM IDLE!!!" |
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elif key==112: # 'p' |
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ending = 1 |
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# Get the servo angle from steeringAngle |
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def get_servo_position(steeringAngle): |
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sAngle = (-1.0*(steeringAngle - 1))/2.0 |
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sAngle = (sAngle*60)+95 |
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sAngle = int(sAngle) |
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if sAngle > 180: |
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sAngle = 180 |
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return sAngle |
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if __name__ == "__main__": |
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try: |
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ser = serial.Serial('COM12', 9600, timeout=5) |
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except: |
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ser = None |
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klThread = Thread(target = keyloop_thread, args = ()) |
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spThread = Thread(target = send_packet_thread, args=()) |
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klThread.start() |
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spThread.start() |
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print "thread loop started!" |
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klThread.join() |
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spThread.join() |
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ser.close() |
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