import socket import pygame pygame.init() pygame.display.set_mode((640, 480)) rc_socket = socket.socket() try: rc_socket.connect(('127.0.0.1', 1337)) # connect to robot except socket.error: print("could not connect to socket") while True: u1 = 0 u2 = 0 vmax = 10.0 events = pygame.event.get() for event in events: if event.type == pygame.KEYDOWN: if event.key == pygame.K_LEFT: u1 = -vmax / 10.0 u2 = vmax/ 10.0 print("turn left: ({},{})".format(u1, u2)) elif event.key == pygame.K_RIGHT: u1 = vmax/ 10.0 u2 = -vmax/ 10.0 print("turn right: ({},{})".format(u1, u2)) elif event.key == pygame.K_UP: u1 = vmax u2 = vmax print("forward: ({},{})".format(u1, u2)) elif event.key == pygame.K_DOWN: u1 = -vmax u2 = -vmax print("backward: ({},{})".format(u1, u2)) 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))