mirror of
https://github.com/pybricks/pybricks-api.git
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Laurens Valk
adf8ed6b56
First pass including Image and ImageFile. Largely migrated from old ev3dev version. We can refine this for the embedded version in the next commits.
143 lines
4.8 KiB
Python
143 lines
4.8 KiB
Python
from pybricks.ev3devices import Motor
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from pybricks.parameters import Port
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import struct
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# This program uses the two PS4 sticks to control two EV3 Large Servo Motors
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# using tank like controls. For a full map of all PS4 buttons, trackpad, and
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# motion checkout: https://github.com/codeadamca/python-connect-ps4
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# Initialize EV3 motors
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left_motor = Motor(Port.B)
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right_motor = Motor(Port.C)
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left_speed = 0
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right_speed = 0
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# Locate the event file you want to react to, on my setup the PS4 controller
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# button events are located in /dev/input/event4
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infile_path = "/dev/input/event4"
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in_file = open(infile_path, "rb")
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# Define the format the event data will be read.
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# https://docs.python.org/3/library/struct.html#format-characters
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FORMAT = "llHHi"
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EVENT_SIZE = struct.calcsize(FORMAT)
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event = in_file.read(EVENT_SIZE)
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# A helper function for converting stick values (0 to 255) to more usable
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# numbers (-100 to 100)
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def scale(val, src, dst):
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result = float(val - src[0]) / (src[1] - src[0])
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result = result * (dst[1] - dst[0]) + dst[0]
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return result
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# Create a loop to react to events
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# This loop reacts to all main PS4 button and stick events. I have left out
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# buttons like share and options, but can easily be added in by referring
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# to the table at: https://github.com/codeadamca/python-connect-ps4
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while event:
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# Place event data into variables
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(tv_sec, tv_usec, ev_type, code, value) = struct.unpack(FORMAT, event)
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# If a button was pressed or released
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if ev_type == 1:
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# React to the X button
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if code == 304 and value == 0:
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print("The X button was released")
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elif code == 304 and value == 1:
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print("The X button was pressed")
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# React to the Circle button
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elif code == 305 and value == 0:
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print("The Circle button was released")
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elif code == 305 and value == 1:
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print("The Circle button was pressed")
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# React to the Triangle button
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elif code == 307 and value == 0:
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print("The Triangle button was released")
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elif code == 307 and value == 1:
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print("The Triangle button was pressed")
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# React to the Square button
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elif code == 308 and value == 0:
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print("The Square button was released")
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elif code == 308 and value == 1:
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print("The Square button was pressed")
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# React to the L1 button
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elif code == 310 and value == 0:
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print("The L1 button was released")
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elif code == 310 and value == 1:
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print("The L1 button was pressed")
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# React to the R1 button
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elif code == 311 and value == 0:
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print("The R1 button was released")
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elif code == 311 and value == 1:
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print("The R1 button was pressed")
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# React to the L2 button
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elif code == 312 and value == 0:
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print("The L2 button was released")
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elif code == 312 and value == 1:
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print("The L2 button was pressed")
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# React to the R2 button
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elif code == 313 and value == 0:
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print("The R2 button was released")
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elif code == 313 and value == 1:
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print("The R2 button was pressed")
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elif ev_type == 3:
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# The sticks often trigger non-stop events, comment this out if you are
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# not using the sticks as part of your project, or it becomes hard to
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# read other data
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# React to the left stick vertical
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if code == 1:
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print("The left stick vertical is at ", value)
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left_speed = scale(value, (0, 255), (100, -100))
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# React to the left stick horizontal
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elif code == 0:
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print("The left stick horizontal is at ", value)
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# React to the right stick vertical
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elif code == 4:
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print("The right stick vertical is at ", value)
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right_speed = scale(value, (0, 255), (100, -100))
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# React to the right stick horizontal
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elif code == 3:
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print("The right stick horizontal is at ", value)
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# React to the Directional pad
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if code == 16 and value == -1:
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print("The horizontal directional pad is left")
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elif code == 16 and value == 1:
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print("The horizontal directional pad is right")
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elif code == 16 and value == 0:
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print("The horizontal directional pad is released")
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elif code == 17 and value == -1:
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print("The vertical directional pad is up")
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elif code == 17 and value == 1:
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print("The horizontal directional pad is down")
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elif code == 17 and value == 0:
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print("The horizontal directional pad is released")
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# Set motor speed
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left_motor.dc(left_speed)
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right_motor.dc(right_speed)
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# Read the next event
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event = in_file.read(EVENT_SIZE)
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in_file.close()
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