06af034b3d
il est capable de parler De donner les indication aller tout droit/arrière ou aller à gauche/droite Reste à faire les diagonnales pour compléter le premier joystick
291 lines
6.4 KiB
Python
291 lines
6.4 KiB
Python
import subprocess
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import inputs
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import threading
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MAX_VAL=32767
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DEAD_ZONE = 20
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SENSIBILITY = 2
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lock = threading.Lock()
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phrase = "";
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continue_thread = 1
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est_stop = 0
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def dis_phrase_thread():
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global continue_thread
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global phrase
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prev_phrase = ""
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while (continue_thread == 1) :
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lock.acquire()
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if phrase is not "" :
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a_dire = phrase
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if phrase is prev_phrase :
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if not (phrase == "STOP !") :
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a_dire = "Continue !"
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else :
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a_dire = ""
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if a_dire is not "" :
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process = subprocess.Popen(["espeak",
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"-v",
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"mb/mb-fr1",
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"-s",
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"120",
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a_dire
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], stdout=subprocess.PIPE)
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lock.release()
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prev_phrase = phrase
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output, error = process.communicate()
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else:
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lock.release()
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else :
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lock.release()
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# propose la phrase à dire au thread qui parle
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def dis_phrase(phrase1):
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global phrase
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lock.acquire()
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phrase = phrase1
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print("propose {}".format(phrase1))
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lock.release()
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# raffinerie des entrées
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def raffine_entree(entree):
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val = int((entree *100)/32767)
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return val
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# Contrôle génériques
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def stop():
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global est_stop
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if est_stop == 0 :
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dis_phrase("STOP !")
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est_stop = 1
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def encore():
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global est_stop
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est_stop = 0
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dis_phrase("Continue !")
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# Déplacements
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def avance_droit():
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global est_stop
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est_stop = 0
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dis_phrase("Avance tout droit !")
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def avance_en_tournant_gauche():
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global est_stop
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est_stop = 0
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dis_phrase("Avance en tournant à gauche !")
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def avance_en_tournant_droite():
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global est_stop
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est_stop = 0
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dis_phrase("Avance en tournant à droite !")
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def avance_diag_gauche():
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global est_stop
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est_stop = 0
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dis_phrase("Avance en diagonale gauche !")
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def avance_diag_droite():
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global est_stop
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est_stop = 0
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dis_phrase("Avance en diagonale droite !")
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def recule_droit():
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global est_stop
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est_stop = 0
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dis_phrase("Recule tout droit !")
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def recule_en_tournant_gauche():
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global est_stop
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est_stop = 0
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dis_phrase("Recule en tournant à gauche !")
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def recule_en_tournant_droite():
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global est_stop
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est_stop = 0
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dis_phrase("Recule en tournant à droite !")
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def recule_diag_gauche():
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global est_stop
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est_stop = 0
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dis_phrase("Recule en diagonale gauche !")
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def recule_diag_droite():
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global est_stop
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est_stop = 0
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dis_phrase("Recule en diagonale droite !")
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def pas_cote_gauche():
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global est_stop
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est_stop = 0
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dis_phrase("Pas de côté vers la gauche !")
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def pas_cote_droit():
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global est_stop
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est_stop = 0
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dis_phrase("Pas de côté vers la droite !")
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# Orientation
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def tourne_gauche():
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global est_stop
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est_stop = 0
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dis_phrase("Oriente toi vers la gauche !")
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def tourne_droite():
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global est_stop
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est_stop = 0
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dis_phrase("Oriente toi vers la droite !")
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# Actions
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def accroupis_toi():
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global est_stop
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est_stop = 0
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dis_phrase("Jusqu'à nouvel ordre, déplace toi accroupi !")
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def releve_toi():
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global est_stop
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est_stop = 0
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dis_phrase("Jusqu'à nouvel ordre, déplace toi debout !")
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def tends_bras_droit():
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global est_stop
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est_stop = 0
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dis_phrase("Jusqu'à nouvel ordre, tends le bras droit !")
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def tends_bras_gauche():
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global est_stop
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est_stop = 0
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dis_phrase("Jusqu'à nouvel ordre, tends le bras gauche !")
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def detends_bras_droit():
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global est_stop
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est_stop = 0
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dis_phrase("Jusqu'à nouvel ordre, détends le bras droit !")
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def detends_bras_gauche():
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global est_stop
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est_stop = 0
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dis_phrase("Jusqu'à nouvel ordre, détends le bras gauche !")
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def attrape():
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global est_stop
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est_stop = 0
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dis_phrase("Attrape !")
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def lache():
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global est_stop
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est_stop = 0
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dis_phrase("Lâche !")
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def saute():
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global est_stop
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est_stop = 0
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dis_phrase("Saute !")
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def coup_pied_gauche():
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global est_stop
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est_stop = 0
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dis_phrase("Coup de pied gauche !")
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def coup_pied_droit():
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global est_stop
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est_stop = 0
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dis_phrase("Coup de pied droit !")
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print(inputs.devices.gamepads)
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actions = {
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0 : encore,
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1 : stop,
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2 : avance_droit,
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3 : avance_en_tournant_gauche,
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4 : avance_en_tournant_droite,
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5 : avance_diag_gauche,
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6 : avance_diag_droite,
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7 : recule_droit,
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8 : recule_en_tournant_gauche,
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9 : recule_en_tournant_droite,
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10 : recule_diag_gauche,
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11 : recule_diag_droite,
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13 : pas_cote_gauche,
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14 : pas_cote_droit,
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15 : tourne_gauche,
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16 : tourne_droite,
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17 : accroupis_toi,
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18 : releve_toi,
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19 : tends_bras_droit,
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20 : tends_bras_gauche,
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21 : detends_bras_droit,
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22 : detends_bras_gauche,
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23 : attrape,
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24 : lache,
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25 : saute,
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26 : coup_pied_gauche,
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27 : coup_pied_droit,
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}
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combo_actuel = -1
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combo_precedent = -1
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t1 = threading.Thread(target=dis_phrase_thread)
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t1.start()
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absx = -1
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prev_absx = -1
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state_absx=False
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absy = -1
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prev_absy = -1
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state_absy=False
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prev_action = -1
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while (True) :
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neutral = 0
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events = inputs.get_gamepad()
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for event in events:
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if event.code =="ABS_X":
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absx = raffine_entree(event.state)
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if (absx > 0 and absx>DEAD_ZONE) or (absx <0 and absx<-DEAD_ZONE):
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state_absx = True
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if event.code =="ABS_Y":
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absy = raffine_entree(event.state)
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if (absy > 0 and absy>DEAD_ZONE) or (absy <0 and absy<-DEAD_ZONE):
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state_absy = True
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if abs(absx) < DEAD_ZONE and abs(absy) < DEAD_ZONE :
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neutral = 2
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action_voulue = -1
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if state_absx == True :
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if absx < -80 :
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action_voulue = 13
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elif absx > 80 :
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action_voulue = 14
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#print("absx : {}".format(absx))
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state_absx = False
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if state_absy == True :
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if absy < -80 :
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action_voulue = 2
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elif absy > 80 :
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action_voulue = 7
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#print("absy : {}".format(absx))
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state_absy = False
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if neutral == 2 :
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action_voulue = 1
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if action_voulue > -1 :
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actions[action_voulue]()
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prev_absx = absx
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