Source code for morse.actuators.joystick

import logging; logger = logging.getLogger("morse." + __name__)
from morse.core import blenderapi
from morse.core.actuator import Actuator
from morse.helpers.components import add_data, add_property

[docs]class Joystick(Actuator): """ This actuator does not require a connection with external data. It simply responds to the joystick to generate movement instructions for the robot attached. .. example:: from morse.builder import * # adds a default robot (the MORSE mascott!) robot = Morsy() # creates a new instance of the joystick actuator joystick = Joystick() robot.append(keyboard) env = Environment('empty') # Run this simulation: you can move the robot with your joystick. :noautoexample: """ _name = "Joystick Actuator" _short_desc="A 'fake' actuator that allows to move a robot from the joystick." add_property('_type', 'Velocity', 'ControlType', 'string', "Kind of control to move the parent robot, in ['Position', " "'Velocity', 'Differential']") add_property('_speed', 1.0, 'Speed', 'float', "Movement speed of the parent robot, in m/s") def __init__(self, obj, parent=None):'%s initialization' % # Call the constructor of the parent class Actuator.__init__(self, obj, parent) joysticks = blenderapi.joysticks() if joysticks.count(None) == len(joysticks): logger.error("No Joystick detected") else:"Found Joystick: " + repr(joysticks) ) # Correct the speed considering the Blender clock if self._type == 'Position': self._speed = self._speed / self.frequency elif self._type == 'Differential': self._stopped = True # get track width for calculating wheel speeds from yaw rate parent = self.robot_parent self._trackWidth = parent._trackWidth self._radius = parent._wheelRadius """ Documentation says: ``bge.types.SCA_JoystickSensor.axisValues`` Each specifying the value of an axis between -32767 and 32767 depending on how far the axis is pushed, 0 for nothing. The first 2 values are used by most joysticks and gamepads for directional control. 3rd and 4th values are only on some joysticks and can be used for arbitary controls. """ # speed_factor = - speed / max self._speed_factor = - self._speed / 32767.0 self.zero_motion = True'Component initialized')
[docs] def default_action(self): """ Interpret joystick axis push and assign them to movement for the robot.""" joystick_sensor = blenderapi.controller().sensors[0] # Reset movement variables vx, vy, vz = 0.0, 0.0, 0.0 rx, ry, rz = 0.0, 0.0, 0.0 rz = joystick_sensor.axisValues[0] * self._speed_factor vx = joystick_sensor.axisValues[1] * self._speed_factor # Send a 'zero motion' only once in a row. if self.zero_motion and (vx,vy,vz,rx,ry,rz) == (0,0,0,0,0,0): return # Give the movement instructions directly to the parent # The second parameter specifies a "local" movement if self._type == 'Position' or self._type == 'Velocity': self.robot_parent.apply_speed(self._type, [vx, vy, vz], [rx, ry, rz / 2.0]) elif self._type == 'Differential': self.robot_parent.apply_vw_wheels(vx, -rz) if (vx,vy,vz,rx,ry,rz) == (0,0,0,0,0,0): self.zero_motion = True else: self.zero_motion = False