RoboRally/remote_control/keyboard_controller.py

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import socket
import pygame
from argparse import ArgumentParser
parser = ArgumentParser()
parser.add_argument('ip', metavar='ip', type=str, help='ip address of the controlled robot')
args = parser.parse_args()
ip = args.ip
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pygame.init()
pygame.display.set_mode((640, 480))
rc_socket = socket.socket()
try:
rc_socket.connect((ip, 1234)) # connect to robot
#rc_socket.connect(('192.168.4.1', 1234)) # connect to robot
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#rc_socket.connect(('192.168.1.101', 1234)) # connect to robot
#rc_socket.connect(('192.168.1.102', 1234)) # connect to robot
#rc_socket.connect(('192.168.1.103', 1234)) # connect to robot
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except socket.error:
print("could not connect to socket")
running = True
while running:
u1 = 0
u2 = 0
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vmax = 1.0
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events = pygame.event.get()
for event in events:
if event.type == pygame.KEYDOWN:
if event.key == pygame.K_LEFT:
u1 = -vmax
u2 = vmax
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print("turn left: ({},{})".format(u1, u2))
elif event.key == pygame.K_RIGHT:
u1 = vmax
u2 = -vmax
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print("turn right: ({},{})".format(u1, u2))
elif event.key == pygame.K_UP:
u1 = vmax
u2 = vmax
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print("forward: ({},{})".format(u1, u2))
elif event.key == pygame.K_DOWN:
u1 = -vmax
u2 = -vmax
print("backward: ({},{})".format(u1, u2))
elif event.key == pygame.K_ESCAPE:
print("quit")
running = False
u1 = 0.0
u2 = 0.0
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rc_socket.send('({},{})\n'.format(u1, u2))
elif event.type == pygame.KEYUP:
print("key released, resetting: ({},{})".format(u1, u2))
rc_socket.send('({},{})\n'.format(u1, u2))