From 5521ab6d53a09337a342c5912ee97990c6e46051 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Wed, 4 Sep 2024 14:29:52 -0700 Subject: [PATCH] Joystick: utilize left/right trigger for gas/brakes (#33474) * try * clean up * flip * Update tools/joystick/joystickd.py --- tools/joystick/joystickd.py | 11 +++++++++-- 1 file changed, 9 insertions(+), 2 deletions(-) diff --git a/tools/joystick/joystickd.py b/tools/joystick/joystickd.py index bb8f483835..982af9767f 100755 --- a/tools/joystick/joystickd.py +++ b/tools/joystick/joystickd.py @@ -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