import time
import pygame
from ElfinRobotMovementHTIC import *
class Cmd(object):
def __init__(self):
self.reset()
def reset(self):
self.axis0 = 0
self.axis1 = 0
self.axis2 = 0
self.axis3 = 0
self.axis4 = 0
self.axis5 = 0
self.btn0 = 0
self.btn1 = 0
self.btn2 = 0
self.btn3 = 0
self.btn4 = 0
self.btn5 = 0
self.btn6 = 0
self.btn7 = 0
self.btn8 = 0
self.btn9 = 0
self.hat0 = 0
class Service(object):
def __init__(self, robot):
self.joystick = None
self.robot = robot
self.cmd = Cmd()
def init_joystick(self):
pygame.init()
self.joystick = pygame.joystick.Joystick(0)
self.joystick.init()
print("44444444")
def test(self,wet):
print(wet)
def loop(self):
air = False
while True:
self.cmd.reset()
pygame.event.pump()
for i in range(0, self.joystick.get_numaxes()):
val = self.joystick.get_axis(i)
if abs(val) < 0.2:
val = 0
tmp = "self.cmd.axis" + str(i) + " = " + str(val)
if val != 0:
exec(tmp)
for i in range(0, self.joystick.get_numhats()):
val = self.joystick.get_hat(i)
tmp = "self.cmd.hat" + str(i) + " = " + str(val)
exec(tmp)
for i in range(0, self.joystick.get_numbuttons()):
if self.joystick.get_button(i) != 0:
tmp = "self.cmd.btn" + str(i) + " = 1"
exec(tmp)
if self.cmd.btn1:
#toggle IO
air = not air
stoprobot(self.robot)
#(0:X,1:Y,2:Z,3:A,4:B,5:C)
#0=negative;1=positive
if self.cmd.btn0 and self.cmd.hat0 == (0, 1):
print("value from the hat is,self.cmd.btn0",self.cmd.hat0,self.cmd.btn0)
LongJogL(self.robot,2,1)
elif self.cmd.btn0 and self.cmd.hat0 == (0, -1):
print("value from the hat is,self.cmd.hat0",self.cmd.hat0,self.cmd.btn0)
LongJogL(self.robot,2,0)
elif self.cmd.hat0 == (0, 1):
print("value from the hat is",self.cmd.hat0)
self.test("test")
LongJogL(self.robot,1,0)
elif self.cmd.hat0 == (0, -1):
print("value from the hat is",self.cmd.hat0)
LongJogL(self.robot,1,1)
elif self.cmd.hat0 == (1, 0):
print("value from the hat is",self.cmd.hat0)
LongJogL(self.robot,0,0)
elif self.cmd.hat0 == (-1, 0):
print("value from the hat is",self.cmd.hat0)
LongJogL(self.robot,0,1)
elif self.cmd.axis0 > 0.5 :
LongJogL(self.robot,3,1)
print("movement in axis0")
elif self.cmd.axis0 < -0.5:
LongJogL(self.robot,3,0)
print("movement in axis0")
elif self.cmd.axis1 > 0.5:
LongJogL(self.robot,4,1)
elif self.cmd.axis1 < -0.5:
LongJogL(self.robot,4,0)
elif self.cmd.axis2 > 0.5:
LongJogL(self.robot,5,1)
elif self.cmd.axis2 < -0.5:
LongJogL(self.robot,5,0)
else:
stoprobot(self.robot)
def close(self):
if self.joystick:
self.joystick.quit()
if __name__ == "__main__":
s = connect('192.168.2.1')
# s = connect('172.16.101.34')
service = Service(s)
service.init_joystick()
try:
service.loop()
finally:
service.close()
手柄控制代码如上
最新发布
本文介绍了Pygame中事件泵(event pump)的功能及其使用方法。通过调用`pygame.event.pump()`来确保即使在事件循环之外，也能正常处理窗口和输入事件。这对于保持游戏或应用的稳定运行至关重要。
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