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joy_broadcast

2014-07-20

joystick driver using gamepad API



In [1]:

    
# Cross-notebook include shim
with open("nbinclude.ipynb") as nbinclude_f: # don't rename nbinclude_f
    import IPython.nbformat.current
    get_ipython().run_cell(IPython.nbformat.current.read(nbinclude_f, 'json').worksheets[0].cells[0].input)



In [2]:

    
nbinclude('gamepad_widget')



In [3]:

    
import time, lcm
from python.forseti2 import piemos_cmd
from python.fearing import xbox_joystick_state
import python.fearing



In [4]:

    
lc=lcm.LCM('udpm://239.255.76.67:7667?ttl=1')
xbs=xbox_joystick_state()
xbs.header = python.fearing.header()



In [5]:

    
def cmd(left, right):
    xbs.axes[1]=left
    xbs.axes[3]=right
    print(left, right)
    lc.publish('robot0/joy', xbs.encode())



In [6]:

    
widgets.interact(cmd,
                 left=JoystickFloatWidget(axis_id=1),
                 right=JoystickFloatWidget(axis_id=3))









    



0.0487075410783 -0.0755333080888



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