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https://github.com/apirrone/Open_Duck_Mini_Runtime.git
synced 2025-09-03 03:33:54 +00:00
better handling button inputs
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apirrone
parent
6b6e726433
commit
8b973103c0
3 changed files with 155 additions and 43 deletions
66
mini_bdx_runtime/mini_bdx_runtime/buttons.py
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66
mini_bdx_runtime/mini_bdx_runtime/buttons.py
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@ -0,0 +1,66 @@
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import time
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class Button:
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def __init__(self):
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self.last_pressed_time = time.time()
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self.timeout = 0.2
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self.is_pressed = False
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self.triggered = False
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self.released = True
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def update(self, value):
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if self.is_pressed and not value:
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self.released = True
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self.is_pressed = value
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if self.released and self.is_pressed and (time.time() - self.last_pressed_time > self.timeout):
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self.triggered = True
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self.last_pressed_time = time.time()
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else:
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self.triggered = False
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if self.is_pressed:
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self.released = False
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class Buttons:
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def __init__(self):
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self.A = Button()
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self.B = Button()
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self.X = Button()
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self.Y = Button()
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self.LB = Button()
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self.RB = Button()
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def update(self, A, B, X, Y, LB, RB):
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self.A.update(A)
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self.B.update(B)
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self.X.update(X)
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self.Y.update(Y)
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self.LB.update(LB)
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self.RB.update(RB)
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if __name__ == "__main__":
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from mini_bdx_runtime.xbox_controller import XBoxController
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xbox_controller = XBoxController(30)
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buttons = Buttons()
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while True:
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(
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_,
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A_pressed,
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B_pressed,
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X_pressed,
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Y_pressed,
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LB_pressed,
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RB_pressed,
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_, _, _
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) = xbox_controller.get_last_command()
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buttons.update(A_pressed, B_pressed, X_pressed, Y_pressed, LB_pressed, RB_pressed)
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print(buttons.A.triggered, buttons.A.is_pressed)
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time.sleep(0.05)
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@ -32,6 +32,13 @@ class XBoxController:
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print(f"Loaded joystick with {self.p1.get_numaxes()} axes.")
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self.cmd_queue = Queue(maxsize=1)
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self.A_pressed = False
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self.B_pressed = False
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self.X_pressed = False
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self.Y_pressed = False
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self.LB_pressed = False
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self.RB_pressed = False
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Thread(target=self.commands_worker, daemon=True).start()
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def commands_worker(self):
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@ -40,9 +47,6 @@ class XBoxController:
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time.sleep(1 / self.command_freq)
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def get_commands(self):
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A_pressed = False
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X_pressed = False
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LB_pressed = False
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last_commands = self.last_commands
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left_trigger = self.last_left_trigger
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right_trigger = self.last_right_trigger
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@ -112,30 +116,50 @@ class XBoxController:
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last_commands[6] = head_roll
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for event in pygame.event.get():
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if self.p1.get_button(0): # A button
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A_pressed = True
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if event.type == pygame.JOYBUTTONDOWN:
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if self.p1.get_button(3): # X button
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X_pressed = True
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if self.p1.get_button(0): # A button
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self.A_pressed = True
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if self.p1.get_button(6): # LB button
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LB_pressed = True
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if self.p1.get_button(1): # B button
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self.B_pressed = True
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if self.p1.get_button(3): # X button
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self.X_pressed = True
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if self.p1.get_button(4): # Y button
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self.Y_pressed = True
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self.head_control_mode = not self.head_control_mode
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if self.p1.get_button(6): # LB button
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self.LB_pressed = True
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if self.p1.get_button(7): # RB button
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self.RB_pressed = True
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if event.type == pygame.JOYBUTTONUP:
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self.A_pressed = False
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self.B_pressed = False
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self.X_pressed = False
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self.Y_pressed = False
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self.LB_pressed = False
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self.RB_pressed = False
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# for i in range(10):
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# if self.p1.get_button(i):
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# print(f"Button {i} pressed")
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if self.p1.get_button(4): # Y button
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self.head_control_mode = not self.head_control_mode
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up_down = self.p1.get_hat(0)[1]
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pygame.event.pump() # process event queue
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return (
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np.around(last_commands, 3),
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A_pressed,
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X_pressed,
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LB_pressed,
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self.A_pressed,
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self.B_pressed,
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self.X_pressed,
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self.Y_pressed,
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self.LB_pressed,
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self.RB_pressed,
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left_trigger,
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right_trigger,
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up_down
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@ -143,15 +167,21 @@ class XBoxController:
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def get_last_command(self):
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A_pressed = False
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B_pressed = False
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X_pressed = False
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Y_pressed = False
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LB_pressed = False
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RB_pressed = False
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up_down = 0
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try:
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(
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self.last_commands,
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A_pressed,
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B_pressed,
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X_pressed,
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Y_pressed,
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LB_pressed,
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RB_pressed,
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self.last_left_trigger,
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self.last_right_trigger,
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up_down
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@ -164,8 +194,11 @@ class XBoxController:
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return (
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self.last_commands,
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A_pressed,
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B_pressed,
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X_pressed,
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Y_pressed,
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LB_pressed,
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RB_pressed,
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self.last_left_trigger,
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self.last_right_trigger,
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up_down
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@ -12,9 +12,10 @@ from mini_bdx_runtime.xbox_controller import XBoxController
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from mini_bdx_runtime.feet_contacts import FeetContacts
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from mini_bdx_runtime.eyes import Eyes
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from mini_bdx_runtime.sounds import Sounds
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# from mini_bdx_runtime.antennas import Antennas
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from mini_bdx_runtime.antennas import Antennas
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from mini_bdx_runtime.projector import Projector
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from mini_bdx_runtime.rl_utils import make_action_dict, LowPassActionFilter
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from mini_bdx_runtime.buttons import Buttons
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class RLWalk:
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def __init__(
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@ -123,11 +124,12 @@ class RLWalk:
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self.paused = False
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self.sounds = Sounds(volume=1.0, sound_directory="../mini_bdx_runtime/assets/")
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# self.antennas = Antennas()
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self.antennas = Antennas()
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self.command_freq = 20 # hz
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if self.commands:
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self.xbox_controller = XBoxController(self.command_freq)
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self.buttons = Buttons()
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self.PRM = PolyReferenceMotion("./polynomial_coefficients.pkl")
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self.imitation_i = 0
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@ -218,9 +220,12 @@ class RLWalk:
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print("Starting")
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start_t = time.time()
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while True:
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A_pressed = False
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X_pressed = False
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LB_pressed = False
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# A_pressed = False
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# B_pressed = False
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# X_pressed = False
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# Y_pressed = False
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# LB_pressed = False
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# RB_pressed = False
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left_trigger = 0
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right_trigger = 0
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up_down = 0
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@ -230,42 +235,50 @@ class RLWalk:
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(
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self.last_commands,
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A_pressed,
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B_pressed,
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X_pressed,
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Y_pressed,
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LB_pressed,
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RB_pressed,
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left_trigger,
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right_trigger,
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up_down
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) = self.xbox_controller.get_last_command()
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if up_down == 1:
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self.phase_frequency_factor += 0.05
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print(f"Phase frequency factor {self.phase_frequency_factor}")
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elif up_down == -1:
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self.phase_frequency_factor -= 0.05
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print(f"Phase frequency factor {self.phase_frequency_factor}")
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self.buttons.update(A_pressed, B_pressed, X_pressed, Y_pressed, LB_pressed, RB_pressed)
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if up_down == 1:
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self.phase_frequency_factor += 0.05
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print(f"Phase frequency factor {self.phase_frequency_factor}")
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elif up_down == -1:
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self.phase_frequency_factor -= 0.05
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print(f"Phase frequency factor {self.phase_frequency_factor}")
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# if LB_pressed:
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# self.phase_frequency_factor = 1.2
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# else:
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# self.phase_frequency_factor = 1.0
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if self.buttons.LB.is_pressed:
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self.phase_frequency_factor = 1.3
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else:
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self.phase_frequency_factor = 1.0
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# self.phase_frequency_factor = self.get_phase_frequency_factor(self.last_commands[0])
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# print(f"Phase frequency factor {self.phase_frequency_factor}")
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# self.phase_frequency_factor = self.get_phase_frequency_factor(self.last_commands[0])
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# print(f"Phase frequency factor {self.phase_frequency_factor}")
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if X_pressed:
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self.sounds.play_random_sound()
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self.projector.switch()
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if self.buttons.X.triggered:
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self.projector.switch()
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# self.antennas.set_position_left(right_trigger)
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# self.antennas.set_position_right(left_trigger)
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if self.buttons.B.triggered:
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self.sounds.play_random_sound()
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self.antennas.set_position_left(right_trigger)
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self.antennas.set_position_right(left_trigger)
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if self.buttons.A.triggered:
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self.paused = not self.paused
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if self.paused:
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print("PAUSE")
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else:
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print("UNPAUSE")
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if A_pressed and not self.paused:
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self.paused = True
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print("PAUSE")
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elif A_pressed and self.paused:
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self.paused = False
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print("UNPAUSE")
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if self.paused:
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time.sleep(0.1)
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