rafaelcaricio/Open_Duck_Mini_Runtime
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simplifying xbox

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apirrone 2025-04-19 13:38:46 +02:00
parent 814be2ee60
commit 524992307c
3 changed files with 2 additions and 55 deletions
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14
mini_bdx_runtime/mini_bdx_runtime/xbox_controller.py
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@ -212,20 +212,6 @@ class XBoxController:
self.last_right_trigger, self.last_right_trigger,
) )
return (
self.last_commands,
A_pressed,
B_pressed,
X_pressed,
Y_pressed,
LB_pressed,
RB_pressed,
self.last_left_trigger,
self.last_right_trigger,
up_down,
)
if __name__ == "__main__": if __name__ == "__main__":
controller = XBoxController(20) controller = XBoxController(20)

12
scripts/head_puppet.py
View file

@ -45,18 +45,6 @@ limits = {
try: try:
while True: while True:
# (
# last_commands,
# A_pressed,
# B_pressed,
# X_pressed,
# Y_pressed,
# LB_pressed,
# RB_pressed,
# left_trigger,
# right_trigger,
# up_down,
# ) = xbox_controller.get_last_command()
last_commands, buttons, left_trigger, right_trigger = ( last_commands, buttons, left_trigger, right_trigger = (
xbox_controller.get_last_command() xbox_controller.get_last_command()

31
scripts/v2_rl_walk_mujoco.py
View file

@ -14,7 +14,6 @@ from mini_bdx_runtime.sounds import Sounds
from mini_bdx_runtime.antennas import Antennas from mini_bdx_runtime.antennas import Antennas
from mini_bdx_runtime.projector import Projector from mini_bdx_runtime.projector import Projector
from mini_bdx_runtime.rl_utils import make_action_dict, LowPassActionFilter from mini_bdx_runtime.rl_utils import make_action_dict, LowPassActionFilter
from mini_bdx_runtime.buttons import Buttons
from mini_bdx_runtime.duck_config import DuckConfig from mini_bdx_runtime.duck_config import DuckConfig
import os import os
@ -98,7 +97,6 @@ class RLWalk:
self.command_freq = 20 # hz self.command_freq = 20 # hz
if self.commands: if self.commands:
self.xbox_controller = XBoxController(self.command_freq) self.xbox_controller = XBoxController(self.command_freq)
self.buttons = Buttons()
# Reference motion, but we only really need the length of one phase # Reference motion, but we only really need the length of one phase
# TODO # TODO
@ -206,34 +204,12 @@ class RLWalk:
while True: while True:
left_trigger = 0 left_trigger = 0
right_trigger = 0 right_trigger = 0
up_down = 0
t = time.time() t = time.time()
if self.commands: if self.commands:
( self.last_commands, self.buttons, left_trigger, right_trigger = (
self.last_commands, self.xbox_controller.get_last_command()
A_pressed,
B_pressed,
X_pressed,
Y_pressed,
LB_pressed,
RB_pressed,
left_trigger,
right_trigger,
up_down,
) = self.xbox_controller.get_last_command()
self.buttons.update(
A_pressed,
B_pressed,
X_pressed,
Y_pressed,
LB_pressed,
RB_pressed,
up_down == 1,
up_down == -1,
) )
if self.buttons.dpad_up.triggered: if self.buttons.dpad_up.triggered:
self.phase_frequency_factor_offset += 0.05 self.phase_frequency_factor_offset += 0.05
print( print(
@ -251,9 +227,6 @@ class RLWalk:
else: else:
self.phase_frequency_factor = 1.0 self.phase_frequency_factor = 1.0
# self.phase_frequency_factor = self.get_phase_frequency_factor(self.last_commands[0])
# print(f"Phase frequency factor {self.phase_frequency_factor}")
if self.buttons.X.triggered: if self.buttons.X.triggered:
if self.duck_config.projector: if self.duck_config.projector:
self.projector.switch() self.projector.switch()