-
Notifications
You must be signed in to change notification settings - Fork 1
/
JoyController.py
180 lines (162 loc) · 5.53 KB
/
JoyController.py
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
# -*- coding: utf-8 -*-
'''
Created on 2014-4-2
@author: GroundMelon
'''
import pygame
from SDLJoystick import SDLJoystick
import time
VAL = 0
STATE = 1
TIM = 2
NORMAL = 0
CHANGING = 1
DELAY = 20/1000.0
tmp=[]
# class JoyCtrl1():
# def __init__(self):
# pygame.init()
# pygame.joystick.init()
# assert pygame.joystick.get_count()!=0, 'NOJOYSTICK'
# self.js = pygame.joystick.Joystick(0)
# self.js.init()
# self._btninfo = [{VAL:0, STATE:NORMAL, TIM:0.0} for i in range(12)]
# self._toggle_info = {'sd':0,
# }
#
# def release(self):
# pygame.joystick.quit()
# pygame.quit()
#
# def get_ctrl(self):
# self.refresh_event()
# rtn = {'roll':0, 'pitch':0, 'yaw':0,} #'throttle':0}
# rtn['roll'] = self.js.get_axis(0)*166+1500 +2
# rtn['pitch'] = -self.js.get_axis(1)*166+1500 -1
# rtn['yaw'] = -self.js.get_axis(3)*166+1500 -1
# rtn['throttle'] = self.js.get_hat(0)[1] * 250 + 1500
#
# rst = self.get_btn()
# rtn['ctrltype'] = rst[0]
# rtn['sd'] = self._toggle('sd', rst[2])
#
# return rtn
#
# def _toggle(self, key, val):
# if self._toggle_info[key] != val:
# self._toggle_info[key] = val
# if val == 1:
# return True
# else:
# return False
# else:
# return False
#
# def refresh_event(self):
# pygame.event.get()
#
# def get_axis(self):
# self.refresh_event()
# rtn = {'roll':0, 'pitch':0, 'yaw':0,} #'throttle':0}
# rtn['roll'] = self.js.get_axis(0)*166+1500 +2
# rtn['pitch'] = -self.js.get_axis(1)*166+1500 -1
# rtn['yaw'] = -self.js.get_axis(3)*166+1500 -1
# #rtn['throttle'] = -self.js.get_axis(2)*500+1500
# return rtn
#
# def get_button(self):
# self.refresh_event()
# rtn = [9]*12
# for i in range(12):
# val = self.js.get_button(i)
# rtn[i] = val
# return rtn
#
# def get_hat(self):
# self.refresh_event()
# rtn = self.js.get_hat(0)[1]
# return rtn
#
# def get_btn(self):
# self.refresh_event()
# rtn = [9]*12
# for i in range(2):
# val = self.js.get_button(i)
# if self._btninfo[i][STATE] == NORMAL:
# if val != self._btninfo[i][VAL]:
# self._btninfo[i][STATE] = CHANGING
# self._btninfo[i][TIM] = time.clock() + DELAY
# elif self._btninfo[i][STATE] == CHANGING:
# if val == self._btninfo[i][VAL]:
# self._btninfo[i][STATE] = NORMAL
# if val != self._btninfo[i][VAL] and time.clock() >= self._btninfo[i][TIM]:
# self._btninfo[i][STATE] = NORMAL
# self._btninfo[i][VAL] = val
# rtn[i] = self._btninfo[i][VAL]
# return rtn
class JoyCtrl():
def __init__(self):
self.js = SDLJoystick()
assert self.js.get_count()!=0, 'NOJOYSTICK'
self.js.init_joy(0)
self._btninfo = [{VAL:0, STATE:NORMAL, TIM:0.0} for _ in range(12)]
self._toggle_info = {'sd':0,
}
self.ctrls = {'roll':1500, 'pitch':1500, 'yaw':1500, 'throttle':1500,
'ctrltype':0, 'sd':0}
def release(self):
self.js.quit()
def get_ctrl(self):
self.refresh_event()
self.ctrls['roll'] = +(self.js.get_axis(0)+256) / 200 + 1500
self.ctrls['pitch'] = -(self.js.get_axis(1)+256) / 200 + 1500
self.ctrls['yaw'] = -(self.js.get_axis(3)+256) / 200 + 1500
self.ctrls['throttle'] = self.js.get_hat(0)[1] * 250 + 1500
rst = self.get_btn()
self.ctrls['ctrltype'] = rst[0]
self.ctrls['sd'] = int(not self.ctrls['sd']) if self._if_rising('sd', rst[2]) else self.ctrls['sd']
return self.ctrls
def _if_rising(self, key, val):
if self._toggle_info[key] != val:
self._toggle_info[key] = val
if val == 1:
return True
else:
return False
else:
return False
def refresh_event(self):
self.js.refresh_event()
def get_button(self):
''' 获得按钮状态,无消抖功能
'''
#self.refresh_event()
rtn = [9]*12
for i in range(12):
val = self.js.get_button(i)
rtn[i] = val
return rtn
def get_btn(self):
''' 获得按钮状态,有消抖功能
'''
self.refresh_event()
rtn = [9]*12
for i in range(12):
val = self.js.get_button(i)
if self._btninfo[i][STATE] == NORMAL:
if val != self._btninfo[i][VAL]:
self._btninfo[i][STATE] = CHANGING
self._btninfo[i][TIM] = time.clock() + DELAY
elif self._btninfo[i][STATE] == CHANGING:
if val == self._btninfo[i][VAL]:
self._btninfo[i][STATE] = NORMAL
if val != self._btninfo[i][VAL] and time.clock() >= self._btninfo[i][TIM]:
self._btninfo[i][STATE] = NORMAL
self._btninfo[i][VAL] = val
rtn[i] = self._btninfo[i][VAL]
return rtn
if __name__ == '__main__':
joy = JoyCtrl()
while True:
rtn = joy.get_btn()
print(rtn)