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ODrivePS4.py
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ODrivePS4.py
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#! /usr/bin/env python
# -*- coding: utf-8 -*-
#
# This file presents an interface for interacting with the Playstation 4 Controller
# in Python. Simply plug your PS4 controller into your computer using USB and run this
# script!
#
# NOTE: I assume in this script that the only joystick plugged in is the PS4 controller.
# if this is not the case, you will need to change the class accordingly.
#
# Copyright © 2015 Clay L. McLeod <[email protected]>
#
# Distributed under terms of the MIT license.
import odrive
from odrive.enums import *
from odrive.utils import start_liveplotter
import time
import os
import pprint
import pygame
left = True
right = True
old_value_x_left = 0
new_value_x_left = 0
old_value_y_left = 0
new_value_y_left = 0
old_value_x_right = 0
new_value_x_right = 0
old_value_y_right = 0
new_value_y_right = 0
# start_moving = False
start_moving = True
calibration = True
# Find a connected ODrive (this will block until you connect one)
print("finding an odrive...")
odrv0 = odrive.find_any(serial_number="2088399B4D4D")
odrv1 = odrive.find_any(serial_number="2068399D4D4D")
# Find an ODrive that is connected on the serial port /dev/ttyUSB0
#my_drive = odrive.find_any("serial:/dev/ttyUSB0")
odrv0.axis0.controller.config.vel_limit = 100
odrv0.axis1.controller.config.vel_limit = 100
odrv1.axis0.controller.config.vel_limit = 100
odrv1.axis1.controller.config.vel_limit = 100
odrv0.axis0.controller.config.vel_gain = 0.02
odrv0.axis1.controller.config.vel_gain = 0.02
odrv1.axis0.controller.config.vel_gain = 0.02
odrv1.axis1.controller.config.vel_gain = 0.02
odrv0.axis0.controller.config.pos_gain = 2
odrv0.axis1.controller.config.pos_gain = 2
odrv1.axis0.controller.config.pos_gain = 2
odrv1.axis1.controller.config.pos_gain = 2
odrv0.axis0.controller.config.input_filter_bandwidth = 0.1
odrv0.axis1.controller.config.input_filter_bandwidth = 0.1
odrv1.axis0.controller.config.input_filter_bandwidth = 0.1
odrv1.axis1.controller.config.input_filter_bandwidth = 0.1
# Calibrate motor and wait for it to finish
print("starting calibration...")
# odrv0.axis0.requested_state = AXIS_STATE_FULL_CALIBRATION_SEQUENCE
# odrv0.axis1.requested_state = AXIS_STATE_FULL_CALIBRATION_SEQUENCE
# odrv1.axis0.requested_state = AXIS_STATE_FULL_CALIBRATION_SEQUENCE
# odrv1.axis1.requested_state = AXIS_STATE_FULL_CALIBRATION_SEQUENCE
odrv0.axis0.requested_state = INPUT_MODE_POS_FILTER
odrv0.axis1.requested_state = INPUT_MODE_POS_FILTER
odrv1.axis0.requested_state = INPUT_MODE_POS_FILTER
odrv1.axis1.requested_state = INPUT_MODE_POS_FILTER
while odrv0.axis0.current_state != AXIS_STATE_IDLE:
time.sleep(0.1)
while odrv0.axis1.current_state != AXIS_STATE_IDLE:
time.sleep(0.1)
while odrv1.axis0.current_state != AXIS_STATE_IDLE:
time.sleep(0.1)
while odrv1.axis1.current_state != AXIS_STATE_IDLE:
time.sleep(0.1)
odrv0.axis0.requested_state = AXIS_STATE_CLOSED_LOOP_CONTROL
odrv0.axis1.requested_state = AXIS_STATE_CLOSED_LOOP_CONTROL
odrv1.axis0.requested_state = AXIS_STATE_CLOSED_LOOP_CONTROL
odrv1.axis1.requested_state = AXIS_STATE_CLOSED_LOOP_CONTROL
#start_liveplotter(lambda:[odrv0.axis0.encoder.pos_estimate, odrv0.axis0.controller.pos_setpoint])
start_liveplotter(lambda:[odrv1.axis0.encoder.pos_estimate, odrv1.axis0.controller.pos_setpoint,odrv0.axis0.encoder.pos_estimate, odrv0.axis0.controller.pos_setpoint])
def scale(val, src, dst):
"""
Scale the given value from the scale of src to the scale of dst.
"""
return ((val - src[0]) / (src[1]-src[0])) * (dst[1]-dst[0]) + dst[0]
def add(value):
value = value + .5
return value
# if value < 40:
# return value
# else:
# return 40
def sub(value):
value = value -.5
return value
# if value > 0:
# return value
# else:
# return 0
class PS4Controller(object):
"""Class representing the PS4 controller. Pretty straightforward functionality."""
controller = None
axis_data = None
button_data = None
hat_data = None
def init(self):
"""Initialize the joystick components"""
pygame.init()
pygame.joystick.init()
self.controller = pygame.joystick.Joystick(0)
self.controller.init()
def listen(self):
"""Listen for events to happen"""
if not self.axis_data:
self.axis_data = {}
if not self.button_data:
self.button_data = {}
for i in range(self.controller.get_numbuttons()):
self.button_data[i] = False
if not self.hat_data:
self.hat_data = {}
for i in range(self.controller.get_numhats()):
self.hat_data[i] = (0, 0)
while True:
for event in pygame.event.get():
if event.type == pygame.JOYAXISMOTION:
self.axis_data[event.axis] = round(event.value, 2)
elif event.type == pygame.JOYBUTTONDOWN:
self.button_data[event.button] = True
elif event.type == pygame.JOYBUTTONUP:
self.button_data[event.button] = False
elif event.type == pygame.JOYHATMOTION:
self.hat_data[event.hat] = event.value
# Insert your code on what you would like to happen for each event here!
# In the current setup, I have the state simply printing out to the screen.
os.system('clear')
#pprint.pprint(self.button_data)
#pprint.pprint(self.axis_data)
#pprint.pprint(self.hat_data)
global start_moving
global calibration
global new_value_x_left
if 0 in self.axis_data:
if start_moving == True:
global old_value_x_left
value = (self.axis_data[0])
#value = int(scale(value, (-1.0, +1.0), (0.0, 40.0)))
value = int(scale(value, (-1.0, +1.0), (-10.0, 10.0)))
if old_value_x_left != value:
print("changed")
old_value_x_left = value
odrv0.axis0.controller.input_pos = value
if 1 in self.axis_data:
if start_moving == True:
global old_value_y_left
value = (self.axis_data[1])
#value = new_value_x + int(scale(value, (-1.0, +1.0), (0.0, 40.0)))
value = new_value_x_left + int(scale(value, (-1.0, +1.0), (-10.0, 10.0)))
if old_value_y_left != value:
print("changed")
old_value_y_left = value
odrv0.axis1.controller.input_pos = value
if 3 in self.axis_data:
if start_moving == True:
global old_value_x_right
value = (self.axis_data[3])
value = int(scale(value, (-1.0, +1.0), (-10.0, 10.0)))
if old_value_x_right != value:
print("changed")
old_value_x_right = value
odrv1.axis1.controller.input_pos = -1 * value
if 4 in self.axis_data:
if start_moving == True:
global old_value_y_right
value = (self.axis_data[4])
value = new_value_x_right + int(scale(value, (-1.0, +1.0), (-10.0, 10.0)))
if old_value_y_right != value:
print("changed")
old_value_y_right = value
odrv1.axis0.controller.input_pos = -1 * value
# if self.button_data[1] == True:
# if calibration == True:
# new_value_x = add(new_value_x)
# my_drive.axis1.controller.input_pos = new_value_x
# my_drive.axis0.controller.input_pos = new_value_x
# print("button pressed")
# if self.button_data[3] == True:
# if calibration == True:
# new_value_x = sub(new_value_x)
# my_drive.axis1.controller.input_pos = new_value_x
# my_drive.axis0.controller.input_pos = new_value_x
# print("button pressed")
# if self.button_data[2] == True:
# start_moving = True
# calibration = False
# print("button pressed")
if __name__ == "__main__":
ps4 = PS4Controller()
ps4.init()
ps4.listen()