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A Joystick Axis Pipe. This is the Arduino code that receives through a serial interface the commands and generate the PPM Pulses.

Lucas Teske revisou este gist 12 years ago. Ir para a revisão

1 file changed, 182 insertions

axispipe.py(arquivo criado)

@@ -0,0 +1,182 @@
1 + import serial
2 + import pygame
3 + import struct
4 + import os
5 + import sys
6 + import time
7 + class TextPrint:
8 + def __init__(self):
9 + self.reset()
10 + self.font = pygame.font.Font(None, 30)
11 +
12 + def show(self, screen, textString):
13 + textBitmap = self.font.render(textString, True, (0,0,0))
14 + screen.blit(textBitmap, [self.x, self.y])
15 + self.y += self.line_height
16 +
17 + def reset(self):
18 + self.x = 20
19 + self.y = 20
20 + self.line_height = 25
21 +
22 + def indent(self):
23 + self.x += 20
24 +
25 + def unindent(self):
26 + self.x -= 20
27 +
28 + class AxisPipe:
29 + def __init__(self, port):
30 + self.port = port
31 + self.serial = serial.Serial(port,38400, timeout=0.01)
32 + self.axis = [ 0,0,0,0 ]
33 + self.aux = [ 0,0 ]
34 +
35 + def UpdateAxis(self, axis, value):
36 + if self.axis[axis] != value & 0xFFFF:
37 + print "Updating Axis %s with %s" %(axis,value)
38 + self.axis[axis] = value & 0xFFFF
39 + self.serial.write(struct.pack("BBB",axis,value&0xFF,value/0xFF))
40 +
41 + def UpdateAux(self, aux, value):
42 + if self.aux[aux] != value & 0xFFFF:
43 + print "Updating Aux %s with %s" %(aux,value)
44 + self.aux[aux] = value & 0xFFFF
45 + self.serial.write(struct.pack("BBB",aux+7,value&0xFF,value/0xFF))
46 +
47 + def SetLed(self, val):
48 + self.serial.write(struct.pack("BBB",4,val&0xFF,0))
49 +
50 + def ReadData(self):
51 + data = self.serial.readline()
52 + if len(data) > 1:
53 + print "Response: %s" %data.replace("\n","")
54 +
55 + def TurnOn(self):
56 + self.serial.write("\x05\x00\x00")
57 + self.UpdateAxis(0,1000);
58 + self.UpdateAxis(1,1000);
59 + self.UpdateAxis(2,1000);
60 + self.UpdateAxis(3,1000);
61 +
62 + self.UpdateAux(0,1000);
63 + self.UpdateAux(1,1000);
64 +
65 + def TurnOff(self):
66 + self.serial.write("\x06\x00\x00")
67 +
68 + def KeepAlive(self):
69 + self.serial.write("\x09\x00\x00")
70 +
71 + def Close(self):
72 + self.TurnOff()
73 + self.serial.close()
74 +
75 + pygame.init()
76 +
77 + screen = pygame.display.set_mode([540,300])
78 + pygame.display.set_caption("Controller")
79 +
80 + done = False
81 + ax = AxisPipe("/dev/rfcomm21")
82 + led = 0
83 + leddir = False
84 + clock = pygame.time.Clock()
85 +
86 +
87 + pygame.joystick.init()
88 + textPrint = TextPrint()
89 +
90 + def FixDeadBand(val):
91 + if val >= 1580 or val <= 1420:
92 + return val
93 + else:
94 + return 1500
95 +
96 + ax.UpdateAxis(0,1000);
97 + ax.UpdateAxis(1,1000);
98 + ax.UpdateAxis(2,1000);
99 + ax.UpdateAxis(3,1000);
100 +
101 + ax.UpdateAux(0,1000);
102 + ax.UpdateAux(1,1000);
103 +
104 + while done==False:
105 + for event in pygame.event.get():
106 + if event.type == pygame.QUIT:
107 + done=True
108 + elif event.type == pygame.JOYBUTTONUP:
109 + if event.button == 7:
110 + print "Turning ON the controller"
111 + ax.TurnOn()
112 + elif event.button == 6:
113 + print "Turning OFF the controller"
114 + ax.TurnOff()
115 + elif event.button == 0: # Button A
116 + ax.UpdateAux(0,int(joystick.get_axis(5)*500+1500))
117 + elif event.button == 1: # Button B
118 + ax.UpdateAux(1,int(joystick.get_axis(5)*500+1500))
119 + elif event.type == pygame.KEYUP:
120 + if event.key == 100:
121 + ax.UpdateAxis(1,2000)
122 + elif event.key == 97:
123 + ax.UpdateAxis(1,1000)
124 + else:
125 + ax.UpdateAxis(1,1500)
126 +
127 + screen.fill((255,255,255))
128 +
129 + textPrint.reset()
130 +
131 + if pygame.joystick.get_count() > 0:
132 + joystick = pygame.joystick.Joystick(1)
133 + joystick.init()
134 +
135 + textPrint.show(screen, "Joystick {}".format(0) )
136 + textPrint.indent()
137 + name = joystick.get_name()
138 + textPrint.show(screen, "Joystick name: {}".format(name) )
139 + if joystick.get_numaxes() >= 6:
140 + ax.UpdateAxis(0,int(joystick.get_axis(4)*500+1500))
141 + ax.UpdateAxis(1,FixDeadBand(int(joystick.get_axis(2)*250+1500)))
142 + ax.UpdateAxis(2,FixDeadBand(int(-joystick.get_axis(3)*250+1500)))
143 + ax.UpdateAxis(3,FixDeadBand(int(joystick.get_axis(0)*500+1500)))
144 + textPrint.indent()
145 + textPrint.show(screen, "CH1: {}".format(ax.axis[0]))
146 + textPrint.show(screen, "CH2: {}".format(ax.axis[1]))
147 + textPrint.show(screen, "CH3: {}".format(ax.axis[2]))
148 + textPrint.show(screen, "CH4: {}".format(ax.axis[3]))
149 + textPrint.show(screen, "AUX0: {}".format(ax.aux[0]))
150 + textPrint.show(screen, "AUX1: {}".format(ax.aux[1]))
151 + textPrint.unindent()
152 +
153 + else:
154 + textPrint.show(screen, "No Joystick Available" )
155 + ax.UpdateAxis(0,0);
156 + ax.UpdateAxis(1,0);
157 + ax.UpdateAxis(2,0);
158 + ax.UpdateAxis(3,0);
159 +
160 + ax.ReadData()
161 + if leddir:
162 + if led >= 255:
163 + led = 255
164 + leddir = False
165 + else:
166 + led += 5
167 + else:
168 + if led <= 0:
169 + led = 0
170 + leddir = True
171 + else:
172 + led -= 5
173 + #ax.SetLed(led);
174 + textPrint.show(screen, "LED: {}".format(led) )
175 + textPrint.unindent()
176 + textPrint.unindent()
177 + pygame.display.flip()
178 + ax.KeepAlive()
179 + clock.tick(240) # We need to update the KeepAlive more than 70 times per sec
180 +
181 + ax.Close()
182 + pygame.quit ()

Lucas Teske revisou este gist 12 years ago. Ir para a revisão

1 file changed, 108 insertions

axispipe_328.ino(arquivo criado)

@@ -0,0 +1,108 @@
1 + #include <Servo.h>
2 +
3 + Servo ch[6];
4 +
5 + unsigned char buff[3];
6 + unsigned short count;
7 + unsigned short kcount = 0;
8 + void TurnOn() {
9 + ch[0].attach(3);
10 + ch[1].attach(5);
11 + ch[2].attach(6);
12 + ch[3].attach(9);
13 + ch[4].attach(8);
14 + ch[5].attach(10);
15 + digitalWrite(13, HIGH);
16 + Serial.println("Controller ON");
17 + }
18 +
19 + void TurnOff() {
20 + for(int i=0;i<6;i++)
21 + ch[i].detach();
22 + digitalWrite(3, LOW);
23 + digitalWrite(5, LOW);
24 + digitalWrite(6, LOW);
25 + digitalWrite(8, LOW);
26 + digitalWrite(9, LOW);
27 + digitalWrite(10, LOW);
28 + digitalWrite(13, LOW);
29 + Serial.println("Controller OFF");
30 + }
31 +
32 + void KeepAlive() {
33 + TCCR2B = 0x00;
34 + TCNT2 = 0x00;
35 + TIFR2 = 0x00;
36 + TIMSK2 = 0x01;
37 + TCCR2A = 0x00;
38 + TCCR2B |= (1<< CS12) | (1<< CS10);
39 + kcount = 0;
40 + }
41 +
42 + ISR(TIMER2_OVF_vect) {
43 + //We didnt receive the signal yet. So we must shutdown the output
44 + kcount++;
45 + if(kcount == 255)
46 + TurnOff();
47 + TCCR2B = 0x00;
48 + TCNT2 = 0x00;
49 + TIFR2 = 0x00;
50 + TIMSK2 = 0x01;
51 + TCCR2A = 0x00;
52 + TCCR2B |= (1<< CS12) | (1<< CS10);
53 + }
54 +
55 + void setup() {
56 + Serial.begin(38400);
57 + Serial.println("Inititializing controllers");
58 + pinMode(13, OUTPUT);
59 + pinMode(3, OUTPUT);
60 + pinMode(5, OUTPUT);
61 + pinMode(6, OUTPUT);
62 + pinMode(8, OUTPUT);
63 + pinMode(9, OUTPUT);
64 + pinMode(10, OUTPUT);
65 +
66 + digitalWrite(3, LOW);
67 + digitalWrite(5, LOW);
68 + digitalWrite(6, LOW);
69 + digitalWrite(8, LOW);
70 + digitalWrite(9, LOW);
71 + digitalWrite(10, LOW);
72 +
73 + count = 0;
74 + Serial.println("AxisPipe Started!");
75 + KeepAlive();
76 + }
77 +
78 + void loop() {
79 + short val;
80 + if(count == 3) {
81 + count = 0;
82 + val = buff[1] + buff[2] * 256;
83 + switch(buff[0]) {
84 + case 0:
85 + case 1:
86 + case 2:
87 + case 3:
88 + ch[buff[0]].writeMicroseconds(val);
89 + break;
90 + case 4: break; // Nothing on 328
91 + case 5: TurnOn(); break;
92 + case 6: TurnOff(); break;
93 + case 7:
94 + case 8: // Aux Outputs
95 + ch[buff[0]-3].writeMicroseconds(val);
96 + break;
97 + case 9: break;
98 + default:
99 + Serial.println("Unknown CMD");
100 + }
101 + KeepAlive();
102 + }
103 + if (Serial.available() > 0) {
104 + buff[count] = Serial.read();
105 + count++;
106 + }
107 +
108 + }
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