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joystickd: add controller mapping (#25986)

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* Correct default controller mapping.

Current config maps steering to right trigger (ABS_RZ) when using a default xinput controller: https://inputs.readthedocs.io/en/latest/user/hardwaresupport.html

This results in default full left steering angle (1) requiring right trigger to return to centre (0) or right (-1).

It appears the intended mapping for steering is right thumbstick (ABS_RX).

Cancel button is also non-existent on default xinput controller. May be X button (BTN_NORTH) or Right Trigger (ABS_RZ).

Tested on Xbox One Controller via USB Cable, Logitech F710 and GameSir T4 Pro.

* Update joystickd.py

Fixed comment

* gamepad configuration

* gamepad arg

Co-authored-by: Cameron Clough <cameronjclough@gmail.com>
old-commit-hash: 1d8fc4d21c
This commit is contained in:
jp-solutionz
2022-10-13 16:48:22 +13:00
committed by GitHub
parent edb488ff41
commit e769f4d11a
1 changed files with 17 additions and 9 deletions
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26
tools/joystick/joystickd.py
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@@ -38,13 +38,20 @@ class Keyboard:
class Joystick:
def __init__(self):
def __init__(self, gamepad=False):
# TODO: find a way to get this from API, perhaps "inputs" doesn't support it
self.min_axis_value = {'ABS_Y': 0., 'ABS_RZ': 0.}
self.max_axis_value = {'ABS_Y': 255., 'ABS_RZ': 255.}
self.cancel_button = 'BTN_TRIGGER'
self.axes_values = {'ABS_Y': 0., 'ABS_RZ': 0.} # gb, steer
self.axes_order = ['ABS_Y', 'ABS_RZ']
if gamepad:
self.cancel_button = 'BTN_NORTH' # (BTN_NORTH=X, ABS_RZ=Right Trigger)
accel_axis = 'ABS_Y'
steer_axis = 'ABS_RX'
else:
self.cancel_button = 'BTN_TRIGGER'
accel_axis = 'ABS_Y'
steer_axis = 'ABS_RZ'
self.min_axis_value = {accel_axis: 0., steer_axis: 0.}
self.max_axis_value = {accel_axis: 255., steer_axis: 255.}
self.axes_values = {accel_axis: 0., steer_axis: 0.}
self.axes_order = [accel_axis, steer_axis]
self.cancel = False
def update(self):
@@ -80,9 +87,8 @@ def send_thread(joystick):
requests.get("http://"+os.environ["WEB"]+":5000/control/%f/%f" % tuple([joystick.axes_values[a] for a in joystick.axes_order][::-1]), timeout=None)
rk.keep_time()
def joystick_thread(use_keyboard):
def joystick_thread(joystick):
Params().put_bool('JoystickDebugMode', True)
joystick = Keyboard() if use_keyboard else Joystick()
threading.Thread(target=send_thread, args=(joystick,), daemon=True).start()
while True:
joystick.update()
@@ -92,6 +98,7 @@ if __name__ == '__main__':
'openpilot must be offroad before starting joysticked.',
formatter_class=argparse.ArgumentDefaultsHelpFormatter)
parser.add_argument('--keyboard', action='store_true', help='Use your keyboard instead of a joystick')
parser.add_argument('--gamepad', action='store_true', help='Use gamepad configuration instead of joystick')
args = parser.parse_args()
if not Params().get_bool("IsOffroad") and "ZMQ" not in os.environ and "WEB" not in os.environ:
@@ -108,4 +115,5 @@ if __name__ == '__main__':
else:
print('Using joystick, make sure to run cereal/messaging/bridge on your device if running over the network!')
joystick_thread(args.keyboard)
joystick = Keyboard() if args.keyboard else Joystick(args.gamepad)
joystick_thread(joystick)