PyRemote/PyRemote.py at master · IEEE-UCSD-RoboCupSSL/PyRemote · GitHub

1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
import RemoteAPI_pb2 # the _pb2 suffix here has nothing to do with proto version, god knows why google named it this way lol
import socket
import time
from pynput import keyboard

TritonBot_IP = "127.0.0.1"
RemoteCONN_Port = 6000
RemoteCMD_Port = 6001
# ...

cmd = RemoteAPI_pb2.Commands()
cmd.enable_ball_auto_capture = False
cmd.mode = 3
cmd.is_world_frame = True
cmd.motion_set_point.x, cmd.motion_set_point.y, cmd.motion_set_point.z = 0.0, 0.0, 0.0
cmd.kicker_set_point.x, cmd.kicker_set_point.y = 0, 0

cmd_socket = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)

pwr = 80
r_pwr = 15


def on_press(key):
    try:
        #print(type(key))
        if not (type(key) is keyboard.Key):
            if key.char == 'w':
                cmd.motion_set_point.y = pwr
            if key.char == 's':
                cmd.motion_set_point.y = -pwr
            if key.char == 'a':
                cmd.motion_set_point.x = -pwr
            if key.char == 'd':
                cmd.motion_set_point.x = pwr
        else:
            if key == keyboard.Key.left:
                cmd.motion_set_point.z = r_pwr
            if key == keyboard.Key.right:
                cmd.motion_set_point.z = -r_pwr

    except AttributeError:
        # print('special key {0} pressed'.format(key))
        pass


def on_release(key):
    if not (type(key) is keyboard.Key):
        if key.char == 'w':
            cmd.motion_set_point.y = 0
        if key.char == 's':
            cmd.motion_set_point.y = 0
        if key.char == 'a':
            cmd.motion_set_point.x = 0
        if key.char == 'd':
            cmd.motion_set_point.x = 0
    else:
        if key == keyboard.Key.left:
            cmd.motion_set_point.z = 0
        if key == keyboard.Key.right:
            cmd.motion_set_point.z = 0


listener = keyboard.Listener(on_press=on_press, on_release=on_release)
listener.start()

while True:
    print("<", cmd.motion_set_point.x, ", ",
               cmd.motion_set_point.y, ", ",
               cmd.motion_set_point.z, ">")
    cmd_socket.sendto(cmd.SerializeToString(), (TritonBot_IP, RemoteCMD_Port))
    # ....