hamuchiwa
70 linhas
2.2 KiB
Python
70 linhas
2.2 KiB
Python
__author__ = 'zhengwang'
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import serial
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import pygame
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from pygame.locals import *
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class RCTest(object):
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def __init__(self):
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pygame.init()
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self.ser = serial.Serial('/dev/tty.usbmodem1421', 115200, timeout=1)
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self.send_inst = True
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self.steer()
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def steer(self):
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while self.send_inst:
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for event in pygame.event.get():
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if event.type == KEYDOWN:
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key_input = pygame.key.get_pressed()
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# complex orders
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if key_input[pygame.K_UP] and key_input[pygame.K_RIGHT]:
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print("Forward Right")
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self.ser.write(chr(6))
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elif key_input[pygame.K_UP] and key_input[pygame.K_LEFT]:
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print("Forward Left")
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self.ser.write(chr(7))
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elif key_input[pygame.K_DOWN] and key_input[pygame.K_RIGHT]:
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print("Reverse Right")
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self.ser.write(chr(8))
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elif key_input[pygame.K_DOWN] and key_input[pygame.K_LEFT]:
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print("Reverse Left")
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self.ser.write(chr(9))
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# simple orders
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elif key_input[pygame.K_UP]:
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print("Forward")
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self.ser.write(chr(1))
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elif key_input[pygame.K_DOWN]:
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print("Reverse")
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self.ser.write(chr(2))
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elif key_input[pygame.K_RIGHT]:
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print("Right")
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self.ser.write(chr(3))
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elif key_input[pygame.K_LEFT]:
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print("Left")
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self.ser.write(chr(4))
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# exit
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elif key_input[pygame.K_x] or key_input[pygame.K_q]:
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print 'Exit'
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self.send_inst = False
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self.ser.write(chr(0))
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self.ser.close()
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break
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elif event.type == pygame.KEYUP:
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self.ser.write(chr(0))
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if __name__ == '__main__':
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RCTest()
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