Remove code related to gyro

pycon/__init__.py

@@ -1,18 +1,13 @@
+from .device import (get_device_ids, get_ids_of_type, get_L_id, get_L_ids,
+                     get_R_id, get_R_ids, is_id_L)
+from .event import ButtonEventJoyCon
 from .joycon import JoyCon
 from .wrappers import PythonicJoyCon  # as JoyCon
-from .gyro import GyroTrackingJoyCon
-from .event import ButtonEventJoyCon
-from .device import get_device_ids, get_ids_of_type
-from .device import is_id_L
-from .device import get_R_ids, get_L_ids
-from .device import get_R_id, get_L_id
-
 
 __version__ = "0.2.4"
 
 __all__ = [
     "ButtonEventJoyCon",
-    "GyroTrackingJoyCon",
     "JoyCon",
     "PythonicJoyCon",
     "get_L_id",

pycon/device.py

@@ -1,6 +1,7 @@
 import hid
-from .constants import JOYCON_VENDOR_ID, JOYCON_PRODUCT_IDS
+
-from .constants import JOYCON_L_PRODUCT_ID, JOYCON_R_PRODUCT_ID
+from .constants import (JOYCON_L_PRODUCT_ID, JOYCON_PRODUCT_IDS,
+                        JOYCON_R_PRODUCT_ID, JOYCON_VENDOR_ID)
 
 
 def get_device_ids(debug=False):

pycon/gyro.py

@@ -1,84 +0,0 @@
-from .wrappers import PythonicJoyCon
-from glm import vec2, vec3, quat, angleAxis, eulerAngles
-from typing import Optional
-import time
-
-
-class GyroTrackingJoyCon(PythonicJoyCon):
-    """
-    A specialized class based on PythonicJoyCon which tracks the gyroscope data
-    and deduces the current rotation of the JoyCon. Can be used to create a
-    pointer rotate an object or pointin a direction. Comes with the need to be
-    calibrated.
-    """
-    def __init__(self, *args, **kwargs):
-        super().__init__(*args, simple_mode=False, **kwargs)
-
-        # set internal state:
-        self.reset_orientation()
-
-        # register the update callback
-        self.register_update_hook(self._gyro_update_hook)
-
-    @property
-    def pointer(self) -> Optional[vec2]:
-        d = self.direction
-        if d.x <= 0:
-            return None
-        return vec2(d.y, -d.z) / d.x
-
-    @property
-    def direction(self) -> vec3:
-        return self.direction_X
-
-    @property
-    def rotation(self) -> vec3:
-        return -eulerAngles(self.direction_Q)
-
-    is_calibrating = False
-
-    def calibrate(self, seconds=2):
-        self.calibration_acumulator = vec3(0)
-        self.calibration_acumulations = 0
-        self.is_calibrating = time.time() + seconds
-
-    def _set_calibration(self, gyro_offset=None):
-        if not gyro_offset:
-            c = vec3(1, self._ime_yz_coeff, self._ime_yz_coeff)
-            gyro_offset = self.calibration_acumulator * c
-            gyro_offset /= self.calibration_acumulations
-            gyro_offset += vec3(
-                    self._GYRO_OFFSET_X,
-                    self._GYRO_OFFSET_Y,
-                    self._GYRO_OFFSET_Z,
-                )
-        self.is_calibrating = False
-        self.set_gyro_calibration(gyro_offset)
-
-    def reset_orientation(self):
-        self.direction_X = vec3(1, 0, 0)
-        self.direction_Y = vec3(0, 1, 0)
-        self.direction_Z = vec3(0, 0, 1)
-        self.direction_Q = quat()
-
-    @staticmethod
-    def _gyro_update_hook(self):
-        if self.is_calibrating:
-            if self.is_calibrating < time.time():
-                self._set_calibration()
-            else:
-                for xyz in self.gyro:
-                    self.calibration_acumulator += xyz
-                self.calibration_acumulations += 3
-
-        for gx, gy, gz in self.gyro_in_rad:
-            # TODO: find out why 1/86 works, and not 1/60 or 1/(60*30)
-            rotation \
-                = angleAxis(gx * (-1/86), self.direction_X) \
-                * angleAxis(gy * (-1/86), self.direction_Y) \
-                * angleAxis(gz * (-1/86), self.direction_Z)
-
-            self.direction_X *= rotation
-            self.direction_Y *= rotation
-            self.direction_Z *= rotation
-            self.direction_Q *= rotation

pycon/joycon.py

@@ -1,10 +1,12 @@
-from .constants import JOYCON_VENDOR_ID, JOYCON_PRODUCT_IDS
-from .constants import JOYCON_L_PRODUCT_ID, JOYCON_R_PRODUCT_ID
-import hid
-import time
 import threading
+import time
 from typing import Optional
 
+import hid
+
+from .constants import (JOYCON_L_PRODUCT_ID, JOYCON_PRODUCT_IDS,
+                        JOYCON_R_PRODUCT_ID, JOYCON_VENDOR_ID)
+
 # TODO: disconnect, power off sequence
 
 
@@ -38,7 +40,6 @@ class JoyCon:
         self._input_report = bytes(self._INPUT_REPORT_SIZE)
         self._packet_number = 0
         self.set_accel_calibration((0, 0, 0), (1, 1, 1))
-        self.set_gyro_calibration((0, 0, 0), (1, 1, 1))
 
         # connect to joycon
         self._joycon_device = self._open(vendor_id, product_id, serial=serial)
@@ -162,16 +163,6 @@ class JoyCon:
                 self._to_int16le_from_2bytes(imu_cal[10], imu_cal[11]),
             )
         )
-        self.set_gyro_calibration((
-                self._to_int16le_from_2bytes(imu_cal[12], imu_cal[13]),
-                self._to_int16le_from_2bytes(imu_cal[14], imu_cal[15]),
-                self._to_int16le_from_2bytes(imu_cal[16], imu_cal[17]),
-            ), (
-                self._to_int16le_from_2bytes(imu_cal[18], imu_cal[19]),
-                self._to_int16le_from_2bytes(imu_cal[20], imu_cal[21]),
-                self._to_int16le_from_2bytes(imu_cal[22], imu_cal[23]),
-            )
-        )
 
     def _read_stick_calibration_data(self):
         user_stick_cal_addr = 0x8012 if self.is_left() else 0x801D
@@ -223,17 +214,6 @@ class JoyCon:
     def __del__(self):
         self._close()
 
-    def set_gyro_calibration(self, offset_xyz=None, coeff_xyz=None):
-        if offset_xyz:
-            self._GYRO_OFFSET_X, \
-            self._GYRO_OFFSET_Y, \
-            self._GYRO_OFFSET_Z = offset_xyz
-        if coeff_xyz:
-            cx, cy, cz = coeff_xyz
-            self._GYRO_COEFF_X = 0x343b / cx if cx != 0x343b else 1
-            self._GYRO_COEFF_Y = 0x343b / cy if cy != 0x343b else 1
-            self._GYRO_COEFF_Z = 0x343b / cz if cz != 0x343b else 1
-
     def set_accel_calibration(self, offset_xyz=None, coeff_xyz=None):
         if offset_xyz and coeff_xyz:
             self._ACCEL_OFFSET_X, \
@@ -414,30 +394,6 @@ class JoyCon:
             input_report[18 + sample_idx * 12])
         return data * self._ACCEL_COEFF_Z * (1 if self.is_left() else -1)
 
-    def get_gyro_x(self, sample_idx=0):
-        if sample_idx not in (0, 1, 2):
-            raise IndexError('sample_idx should be between 0 and 2')
-        data = self._to_int16le_from_2bytes(
-            self._input_report[19 + sample_idx * 12],
-            self._input_report[20 + sample_idx * 12])
-        return (data - self._GYRO_OFFSET_X) * self._GYRO_COEFF_X
-
-    def get_gyro_y(self, sample_idx=0):
-        if sample_idx not in (0, 1, 2):
-            raise IndexError('sample_idx should be between 0 and 2')
-        data = self._to_int16le_from_2bytes(
-            self._input_report[21 + sample_idx * 12],
-            self._input_report[22 + sample_idx * 12])
-        return (data - self._GYRO_OFFSET_Y) * self._GYRO_COEFF_Y
-
-    def get_gyro_z(self, sample_idx=0):
-        if sample_idx not in (0, 1, 2):
-            raise IndexError('sample_idx should be between 0 and 2')
-        data = self._to_int16le_from_2bytes(
-            self._input_report[23 + sample_idx * 12],
-            self._input_report[24 + sample_idx * 12])
-        return (data - self._GYRO_OFFSET_Z) * self._GYRO_COEFF_Z
-
     def get_status(self) -> dict:
         return {
             "battery": {
@@ -490,28 +446,8 @@ class JoyCon:
                 "y": self.get_accel_y(),
                 "z": self.get_accel_z(),
             },
-            "gyro": {
-                "x": self.get_gyro_x(),
-                "y": self.get_gyro_y(),
-                "z": self.get_gyro_z(),
-            },
         }
 
-    def set_player_lamp_on(self, on_pattern: int):
-        self._write_output_report(
-            b'\x01', b'\x30',
-            (on_pattern & 0xF).to_bytes(1, byteorder='little'))
-
-    def set_player_lamp_flashing(self, flashing_pattern: int):
-        self._write_output_report(
-            b'\x01', b'\x30',
-            ((flashing_pattern & 0xF) << 4).to_bytes(1, byteorder='little'))
-
-    def set_player_lamp(self, pattern: int):
-        self._write_output_report(
-            b'\x01', b'\x30',
-            pattern.to_bytes(1, byteorder='little'))
-
     def disconnect_device(self):
         self._write_output_report(b'\x01', b'\x06', b'\x00')
 

pycon/wrappers.py

@@ -46,9 +46,6 @@ class PythonicJoyCon(JoyCon):
     left_sr       = property(JoyCon.get_button_left_sr)
     left_sl       = property(JoyCon.get_button_left_sl)
 
-    set_led_on       = JoyCon.set_player_lamp_on
-    set_led_flashing = JoyCon.set_player_lamp_flashing
-    set_led          = JoyCon.set_player_lamp
     disconnect       = JoyCon.disconnect_device
 
     @property
@@ -89,54 +86,3 @@ class PythonicJoyCon(JoyCon):
             )
             for i in range(3)
         ]
-
-    @property
-    def gyro(self):
-        c = self._ime_yz_coeff
-        return [
-            (
-                self.get_gyro_x(i),
-                self.get_gyro_y(i) * c,
-                self.get_gyro_z(i) * c,
-            )
-            for i in range(3)
-        ]
-
-    @property
-    def gyro_in_deg(self):
-        c = 0.06103
-        c2 = c * self._ime_yz_coeff
-        return [
-            (
-                self.get_gyro_x(i) * c,
-                self.get_gyro_y(i) * c2,
-                self.get_gyro_z(i) * c2,
-            )
-            for i in range(3)
-        ]
-
-    @property
-    def gyro_in_rad(self):
-        c = 0.0001694 * 3.1415926536
-        c2 = c * self._ime_yz_coeff
-        return [
-            (
-                self.get_gyro_x(i) * c,
-                self.get_gyro_y(i) * c2,
-                self.get_gyro_z(i) * c2,
-            )
-            for i in range(3)
-        ]
-
-    @property
-    def gyro_in_rot(self):
-        c = 0.0001694
-        c2 = c * self._ime_yz_coeff
-        return [
-            (
-                self.get_gyro_x(i) * c,
-                self.get_gyro_y(i) * c2,
-                self.get_gyro_z(i) * c2,
-            )
-            for i in range(3)
-        ]