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Joystick: utilize left/right trigger for gas/brakes (#33474) 

* try

* clean up

* flip

* Update tools/joystick/joystickd.py
This commit is contained in:
Shane Smiskol 2024-09-04 14:29:52 -07:00 committed by GitHub
parent 655a7464bd
commit 5521ab6d53
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1 changed files with 9 additions and 2 deletions
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11
tools/joystick/joystickd.py
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@ -45,8 +45,10 @@ class Joystick:
# 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_Y'
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}
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.}
@ -56,6 +58,11 @@ class Joystick:
def update(self):
joystick_event = get_gamepad()[0]
event = (joystick_event.code, joystick_event.state)
# flip left trigger to negative accel
if event[0] in self.flip_map:
event = (self.flip_map[event[0]], -event[1])
if event[0] == self.cancel_button:
if event[1] == 1:
self.cancel = True
@ -66,7 +73,7 @@ class Joystick:
self.min_axis_value[event[0]] = min(event[1], self.min_axis_value[event[0]])
norm = -interp(event[1], [self.min_axis_value[event[0]], self.max_axis_value[event[0]]], [-1., 1.])
norm = norm if abs(norm) > 0.02 else 0. # center can be noisy, deadzone of 2%
norm = norm if abs(norm) > 0.03 else 0. # center can be noisy, deadzone of 3%
self.axes_values[event[0]] = JS_EXPO * norm ** 3 + (1 - JS_EXPO) * norm # less action near center for fine control
else:
return False