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adapt sample code to current test joystick

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This commit is contained in:
Olivier R-D 2015-04-15 14:56:41 +02:00
parent 30cc708912
commit f769446d2c
1 changed files with 14 additions and 11 deletions
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25
examples/joystick_control.py
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@ -1,5 +1,6 @@
""" """
example program to control a universal robot with a joystick example program to control a universal robot with a joystick
All joysticks are differens, so you will need to modify the script to work with your joystick
""" """
import time import time
@ -18,10 +19,10 @@ class Cmd(object):
def reset(self): def reset(self):
self.axis0 = 0 self.axis0 = 0
self.axis1 = 0 self.axis1 = 0
self.axis2 = 0 self.axis2 = 0
self.axis3 = 0 self.axis3 = 0
self.axis4 = 0 self.axis4 = 0
self.axis5 = 0 self.axis5 = 0
self.btn0 = 0 self.btn0 = 0
self.btn1 = 0 self.btn1 = 0
self.btn2 = 0 self.btn2 = 0
@ -62,10 +63,14 @@ class Service(object):
#get joystick state #get joystick state
for i in range(0, self.joystick.get_numaxes()): for i in range(0, self.joystick.get_numaxes()):
if abs(self.joystick.get_axis(i)) > 0.2: val = self.joystick.get_axis(i)
tmp = "self.cmd.axis" + str(i) + " = " + str(self.joystick.get_axis(i)) if i in (2, 5) and val != 0:
print(tmp) val += 1
exec(tmp) if abs(val) < 0.2:
val = 0
tmp = "self.cmd.axis" + str(i) + " = " + str(val)
#print(tmp)
exec(tmp)
#get button state #get button state
for i in range(0, self.joystick.get_numbuttons()): for i in range(0, self.joystick.get_numbuttons()):
@ -121,13 +126,11 @@ class Service(object):
if __name__ == "__main__": if __name__ == "__main__":
#create robot object #create robot object
#robot = urx.Robot('192.168.0.90') robot = urx.Robot('192.168.0.90')
robot = urx.Robot('localhost') #robot = urx.Robot('localhost')
#set a base transformation for robot (optional) #set a base transformation for robot (optional)
robot.set_tcp((0, 0, 0, 0, 0, 0)) robot.set_tcp((0, 0, 0, 0, 0, 0))
trx = m3d.Transform() robot.csys.orient.rotate_zb(-pi/4)
trx.orient.rotate_zb(-pi/4)
robot.set_csys("mycsys", trx)
#start joystick service with given max speed and acceleration #start joystick service with given max speed and acceleration
service = Service(robot, linear_velocity=0.1, rotational_velocity=0.1, acceleration=0.1) service = Service(robot, linear_velocity=0.1, rotational_velocity=0.1, acceleration=0.1)