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joystickd: mapping for PC (#33500)

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work on PC
This commit is contained in:
Shane Smiskol
2024-09-06 21:06:34 -07:00
committed by GitHub
parent 68257da3d5
commit eecac1069e
1 changed files with 11 additions and 5 deletions
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16
tools/joystick/joystickd.py
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@@ -8,6 +8,7 @@ import cereal.messaging as messaging
from openpilot.common.realtime import Ratekeeper
from openpilot.common.numpy_fast import interp, clip
from openpilot.common.params import Params
from openpilot.system.hardware import HARDWARE
from openpilot.tools.lib.kbhit import KBHit
JS_EXPO = 0.4
@@ -43,12 +44,17 @@ class Joystick:
def __init__(self):
# This class supports a PlayStation 5 DualSense controller on the comma 3X
# TODO: find a way to get this from API or detect gamepad/PC, perhaps "inputs" doesn't support it
# TODO: the mapping can also be wrong on PC depending on the driver
self.cancel_button = 'BTN_NORTH' # BTN_NORTH=X/triangle
accel_axis = 'ABS_RX'
steer_axis = 'ABS_Z'
# TODO: once the longcontrol API is finalized, we can replace this with outputting gas/brake and steering
self.flip_map = {'ABS_RY': accel_axis}
if HARDWARE.get_device_type() == 'pc':
accel_axis = 'ABS_Z'
steer_axis = 'ABS_RX'
# TODO: once the longcontrol API is finalized, we can replace this with outputting gas/brake and steering
self.flip_map = {'ABS_RZ': accel_axis}
else:
accel_axis = 'ABS_RX'
steer_axis = 'ABS_Z'
self.flip_map = {'ABS_RY': accel_axis}
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.}