upg_xbox_controller.py

import pygame.joystick

from upg_tests import *

""" TUTO : /// HOW TO CONNECT THE XBOX CONTROLLER ///
If you want to use bluetooth :
    To connect the xbox one controller on your linux computer, you need to disable ertm using the following command.
    ~$ sudo bash -c "echo 1 > /sys/module/bluetooth/parameters/disable_ertm"
    Then turn on the controller using the 'xbox' button and press for a few seconds on the small button on top of the 
    controller and connect it normally to your computer bluetooth.
If you use cable :
    Just plug it

To test if the controller works well, you can DL jstest-gtk using :
~$ sudo apt-get install -y jstest-gtk 
then launch it and you should see the controller.
"""


def get_joystick(slack=0.1):
    """
    Return the direction and rotation values of the linked controller
    """
    x = - pygame.joystick.Joystick(0).get_axis(1)
    y = - pygame.joystick.Joystick(0).get_axis(0)
    r = - pygame.joystick.Joystick(0).get_axis(3)
    if abs(x) < slack:
        x = 0
    if abs(y) < slack:
        y = 0
    if abs(r) < slack:
        r = 0
    return (x, y), r


def plot_traj(t=5):
    for k in range(t):
        plt.clf()
        d, r = get_joystick()
        print(d, r)
        test_compute_traj(d, r)
        plt.pause(1.)
        plt.close()


if __name__ == "__main__":
    print(pygame.joystick.get_init())
    pygame.joystick.init()
    print(pygame.joystick.get_init())
    print(pygame.joystick.get_count())
    pygame.joystick.Joystick(0).init()
    plot_traj()
    # while True:
    #     d, r = get_joystick()
    #     print(d, r)
    #     # traj = compute_traj_from_joystick_abs_equals_nb_points(d, r)
    #     if  0 == 1:# Tracé
    #         fig = plt.figure()
    #         ax = fig.gca(projection='3d')  # Affichage en 3D
    #         Xt0 = [p[0] for p in traj]
    #         Yt0 = [p[1] for p in traj]
    #         Zt0 = [p[2] for p in traj]
    #         Xt1 = [p[3] for p in traj]
    #         Yt1 = [p[4] for p in traj]
    #         Zt1 = [p[5] for p in traj]
    #         Xt2 = [p[6] for p in traj]
    #         Yt2 = [p[7] for p in traj]
    #         Zt2 = [p[8] for p in traj]
    #         Xt3 = [p[9] for p in traj]
    #         Yt3 = [p[10] for p in traj]
    #         Zt3 = [p[11] for p in traj]
    #         ax.plot(Xt0, Yt0, Zt0, label='Théorique', c='coral', ms=0.1)  # Tracé de la courbe théorique
    #         ax.plot(Xt1, Yt1, Zt1, label='Théorique', c='cyan', ms=0.1)  # Tracé de la courbe théorique
    #         ax.plot(Xt2, Yt2, Zt2, label='Théorique', c='deeppink', ms=0.1)  # Tracé de la courbe théorique
    #         ax.plot(Xt3, Yt3, Zt3, label='Théorique', c='chartreuse', ms=0.1)  # Tracé de la courbe théorique
    #         plt.title("Trajectoire du bout de la patte dans l'espace")
    #         ax.set_xlabel('X')
    #         ax.set_ylabel('Y')
    #         ax.set_zlabel('Z')
    #         ax.set_xbound(-2000, 2000)
    #         ax.set_ybound(-2000, 2000)
    #         ax.set_zbound(2000, -2000)
    #         plt.show()
    #     time.sleep(1)
    # pygame.joystick.Joystick(0).quit()