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controller.py
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controller.py
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import time
import threading
try:
import usb.core
class LauncherController(object):
def __init__(self):
self.dev = usb.core.find(idVendor=0x2123, idProduct=0x1010)
if self.dev is None:
raise ValueError('Launcher not connected!')
if self.dev.is_kernel_driver_active(0) is True:
self.dev.detach_kernel_driver(0)
self.dev.set_configuration()
self.current_status = "stop"
self.desired_status = "stop"
self.movement_authority = 0
self.thread = None
def _thread(self):
while True:
if time.time() <= self.movement_authority:
if self.current_status != self.desired_status:
if self.current_status != "stop":
self.stop()
self.current_status = "stop"
if self.desired_status == "stop":
self.stop()
elif self.desired_status == "left":
self.left()
elif self.desired_status == "right":
self.right()
elif self.desired_status == "up":
self.up()
elif self.desired_status == "down":
self.down()
self.current_status = self.desired_status
time.sleep(0.2)
else:
self.stop()
break
self.thread = None
def up(self):
self.dev.ctrl_transfer(0x21,0x09,0,0,[0x02,0x02,0x00,0x00,0x00,0x00,0x00,0x00])
def down(self):
self.dev.ctrl_transfer(0x21,0x09,0,0,[0x02,0x01,0x00,0x00,0x00,0x00,0x00,0x00])
def left(self):
self.dev.ctrl_transfer(0x21,0x09,0,0,[0x02,0x04,0x00,0x00,0x00,0x00,0x00,0x00])
def right(self):
self.dev.ctrl_transfer(0x21,0x09,0,0,[0x02,0x08,0x00,0x00,0x00,0x00,0x00,0x00])
def stop(self):
self.dev.ctrl_transfer(0x21,0x09,0,0,[0x02,0x20,0x00,0x00,0x00,0x00,0x00,0x00])
def fire(self):
self.dev.ctrl_transfer(0x21,0x09,0,0,[0x02,0x10,0x00,0x00,0x00,0x00,0x00,0x00])
def step(self, status, duration):
self.desired_status = status
self.movement_authority = time.time() + duration
if self.thread is None:
self.thread = threading.Thread(target=self._thread)
self.thread.start()
def step_up(self, duration=0.05):
self.step("up", duration)
def step_down(self, duration=0.05):
self.step("down", duration)
def step_left(self, duration=0.05):
self.step("left", duration)
def step_right(self, duration=0.05):
self.step("right", duration)
except ImportError:
class LauncherController(object):
def up(self):
print("RocketLauncher UP!")
def down(self):
print("RocketLauncher DOWN!")
def left(self):
print("RocketLauncher LEFT!")
def right(self):
print("RocketLauncher RIGHT!")
def stop(self):
print("RocketLauncher STOP!")
def fire(self):
print("RocketLauncher FIRE!")
def step_up(self):
self.up()
time.sleep(0.05)
self.stop()
def step_down(self):
self.down()
time.sleep(0.05)
self.stop()
def step_left(self):
self.left()
time.sleep(0.05)
self.stop()
def step_right(self):
self.right()
time.sleep(0.05)
self.stop()
def step(self, command, duration=0.05):
print("Launcher: doing %s for %s" % (command, duration))
if __name__ == "__main__":
print("Demoing Launcher")
lc = LauncherController()
for f in [lc.step_up, lc.step_down, lc.step_left, lc.step_right]:
for i in range(10):
f()
time.sleep(0.5)
lc.fire()