Telos4/RoboRally
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fixed problems with simultaneous inputs not being handled and gamepads not detected

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This commit is contained in:
Simon Pirkelmann 2019-06-28 10:28:51 +02:00
parent 67405fbd3f
commit 9c222b1099
1 changed files with 66 additions and 47 deletions
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99
remote_control/class_control_joystick.py
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@ -13,15 +13,34 @@ class robot: # we have 4 arg for this class, because joysticks get the same (va
self.robot0_stopped_3 = True
self.robot0_stopped_4 = True
self.rc_socket = socket.socket()
self.u1 = 0
self.u2 = 0
try:
self.rc_socket.connect((self.ip, self.port))
except socket.error():
print("couldn't connect to socket")
self.check_joystick = False
def joystick_init(self): # Joystick's initialisation
joystick_count = pygame.joystick.get_count()
for count in range(joystick_count):
if joystick_count == 2:
self.joystick = pygame.joystick.Joystick(self.joy)
print("{}-->joystick count".format(joystick_count))
self.joystick.init()
self.axes = self.joystick.get_numaxes()
self.check_joystick = True
elif joystick_count == 1:
joystick = pygame.joystick.Joystick(0)
joystick.init()
print("connected only 1 joystick - {}".format(joystick))
self.check_joystick = False
elif not joystick_count:
print("no joysticks connected")
self.check_joystick = False
def control(self, event): # the control of two robots with joysticks
joy = event.joy
@ -74,55 +93,56 @@ class robot: # we have 4 arg for this class, because joysticks get the same (va
self.robot0_stopped_4 = True
def control_keyboard(self, event): # keyboard control for robot1
command_received = False
if event.key == pygame.K_LEFT:
if pressed[pygame.K_LEFT]:
u1 = -1.0
u2 = 1.0
command_received = True
elif event.key == pygame.K_RIGHT:
u1 = 1.0
u2 = -1.0
command_received = True
elif event.key == pygame.K_UP:
u1 = -1.0
u2 = -1.0
command_received = True
elif event.key == pygame.K_DOWN:
u1 = 1.0
u2 = 1.0
command_received = True
if command_received:
self.rc_socket.send('({},{})\n'.format(u1, u2).encode())
def control_keyboard_2(self, event): # keyboard control for robot2
command_received = False
if event.key == pygame.K_a:
u1 = -1.0
u2 = 1.0
command_received = True
elif event.key == pygame.K_d:
elif pressed[pygame.K_RIGHT]:
u1 = 1.0
u2 = -1.0
command_received = True
elif event.key == pygame.K_w:
self.rc_socket.send('({},{})\n'.format(u1, u2).encode())
elif pressed[pygame.K_UP]:
u1 = -1.0
u2 = -1.0
command_received = True
elif event.key == pygame.K_s:
self.rc_socket.send('({},{})\n'.format(u1, u2).encode())
elif pressed[pygame.K_DOWN]:
u1 = 1.0
u2 = 1.0
command_received = True
if command_received:
self.rc_socket.send('({},{})\n'.format(u1, u2).encode())
def control_keyboard_stop(self): # stop for both robot
elif event.type == pygame.KEYUP:
self.rc_socket.send('({},{})\n'.format(self.u1, self.u2).encode())
u1 = 0
u2 = 0
print("key released, resetting: ({},{})".format(u1, u2))
def control_keyboard_2(self, event): # keyboard control for robot1
if pressed[pygame.K_a]:
u1 = -1.0
u2 = 1.0
self.rc_socket.send('({},{})\n'.format(u1, u2).encode())
elif pressed[pygame.K_d]:
u1 = 1.0
u2 = -1.0
self.rc_socket.send('({},{})\n'.format(u1, u2).encode())
elif pressed[pygame.K_w]:
u1 = -1.0
u2 = -1.0
self.rc_socket.send('({},{})\n'.format(u1, u2).encode())
elif pressed[pygame.K_s]:
u1 = 1.0
u2 = 1.0
self.rc_socket.send('({},{})\n'.format(u1, u2).encode())
elif event.type == pygame.KEYUP:
self.rc_socket.send('({},{})\n'.format(self.u1, self.u2).encode())
def main():
pygame.init()
pygame.display.set_mode((640, 480))
@ -131,19 +151,18 @@ def main():
robot_1.joystick_init()
robot_2 = robot(1, '192.168.1.103', 1234)
robot_2.joystick_init()
while True:
events = pygame.event.get()
global pressed
pressed = pygame.key.get_pressed()
for event in events:
if event.type == pygame.JOYAXISMOTION:
robot_1.control(event)
robot_2.control(event)
elif event.type == pygame.KEYDOWN:
else:
robot_1.control_keyboard(event)
robot_2.control_keyboard_2(event)
elif event.type == pygame.KEYUP:
robot_1.control_keyboard_stop()
robot_2.control_keyboard_stop()
if __name__ == '__main__':