Remove code related to gyro
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redphx
parent
3d00015607
commit
a3872b1f38
5 changed files with 12 additions and 218 deletions
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@ -1,18 +1,13 @@
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from .device import (get_device_ids, get_ids_of_type, get_L_id, get_L_ids,
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get_R_id, get_R_ids, is_id_L)
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from .event import ButtonEventJoyCon
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from .joycon import JoyCon
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from .wrappers import PythonicJoyCon # as JoyCon
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from .gyro import GyroTrackingJoyCon
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from .event import ButtonEventJoyCon
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from .device import get_device_ids, get_ids_of_type
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from .device import is_id_L
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from .device import get_R_ids, get_L_ids
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from .device import get_R_id, get_L_id
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__version__ = "0.2.4"
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__all__ = [
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"ButtonEventJoyCon",
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"GyroTrackingJoyCon",
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"JoyCon",
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"PythonicJoyCon",
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"get_L_id",
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@ -1,6 +1,7 @@
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import hid
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from .constants import JOYCON_VENDOR_ID, JOYCON_PRODUCT_IDS
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from .constants import JOYCON_L_PRODUCT_ID, JOYCON_R_PRODUCT_ID
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from .constants import (JOYCON_L_PRODUCT_ID, JOYCON_PRODUCT_IDS,
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JOYCON_R_PRODUCT_ID, JOYCON_VENDOR_ID)
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def get_device_ids(debug=False):
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@ -1,84 +0,0 @@
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from .wrappers import PythonicJoyCon
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from glm import vec2, vec3, quat, angleAxis, eulerAngles
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from typing import Optional
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import time
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class GyroTrackingJoyCon(PythonicJoyCon):
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"""
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A specialized class based on PythonicJoyCon which tracks the gyroscope data
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and deduces the current rotation of the JoyCon. Can be used to create a
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pointer rotate an object or pointin a direction. Comes with the need to be
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calibrated.
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"""
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def __init__(self, *args, **kwargs):
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super().__init__(*args, simple_mode=False, **kwargs)
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# set internal state:
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self.reset_orientation()
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# register the update callback
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self.register_update_hook(self._gyro_update_hook)
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@property
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def pointer(self) -> Optional[vec2]:
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d = self.direction
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if d.x <= 0:
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return None
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return vec2(d.y, -d.z) / d.x
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@property
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def direction(self) -> vec3:
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return self.direction_X
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@property
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def rotation(self) -> vec3:
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return -eulerAngles(self.direction_Q)
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is_calibrating = False
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def calibrate(self, seconds=2):
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self.calibration_acumulator = vec3(0)
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self.calibration_acumulations = 0
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self.is_calibrating = time.time() + seconds
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def _set_calibration(self, gyro_offset=None):
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if not gyro_offset:
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c = vec3(1, self._ime_yz_coeff, self._ime_yz_coeff)
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gyro_offset = self.calibration_acumulator * c
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gyro_offset /= self.calibration_acumulations
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gyro_offset += vec3(
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self._GYRO_OFFSET_X,
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self._GYRO_OFFSET_Y,
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self._GYRO_OFFSET_Z,
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)
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self.is_calibrating = False
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self.set_gyro_calibration(gyro_offset)
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def reset_orientation(self):
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self.direction_X = vec3(1, 0, 0)
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self.direction_Y = vec3(0, 1, 0)
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self.direction_Z = vec3(0, 0, 1)
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self.direction_Q = quat()
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@staticmethod
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def _gyro_update_hook(self):
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if self.is_calibrating:
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if self.is_calibrating < time.time():
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self._set_calibration()
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else:
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for xyz in self.gyro:
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self.calibration_acumulator += xyz
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self.calibration_acumulations += 3
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for gx, gy, gz in self.gyro_in_rad:
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# TODO: find out why 1/86 works, and not 1/60 or 1/(60*30)
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rotation \
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= angleAxis(gx * (-1/86), self.direction_X) \
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* angleAxis(gy * (-1/86), self.direction_Y) \
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* angleAxis(gz * (-1/86), self.direction_Z)
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self.direction_X *= rotation
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self.direction_Y *= rotation
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self.direction_Z *= rotation
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self.direction_Q *= rotation
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@ -1,10 +1,12 @@
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from .constants import JOYCON_VENDOR_ID, JOYCON_PRODUCT_IDS
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from .constants import JOYCON_L_PRODUCT_ID, JOYCON_R_PRODUCT_ID
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import hid
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import time
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import threading
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import time
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from typing import Optional
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import hid
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from .constants import (JOYCON_L_PRODUCT_ID, JOYCON_PRODUCT_IDS,
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JOYCON_R_PRODUCT_ID, JOYCON_VENDOR_ID)
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# TODO: disconnect, power off sequence
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@ -38,7 +40,6 @@ class JoyCon:
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self._input_report = bytes(self._INPUT_REPORT_SIZE)
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self._packet_number = 0
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self.set_accel_calibration((0, 0, 0), (1, 1, 1))
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self.set_gyro_calibration((0, 0, 0), (1, 1, 1))
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# connect to joycon
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self._joycon_device = self._open(vendor_id, product_id, serial=serial)
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@ -162,16 +163,6 @@ class JoyCon:
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self._to_int16le_from_2bytes(imu_cal[10], imu_cal[11]),
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)
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)
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self.set_gyro_calibration((
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self._to_int16le_from_2bytes(imu_cal[12], imu_cal[13]),
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self._to_int16le_from_2bytes(imu_cal[14], imu_cal[15]),
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self._to_int16le_from_2bytes(imu_cal[16], imu_cal[17]),
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), (
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self._to_int16le_from_2bytes(imu_cal[18], imu_cal[19]),
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self._to_int16le_from_2bytes(imu_cal[20], imu_cal[21]),
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self._to_int16le_from_2bytes(imu_cal[22], imu_cal[23]),
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)
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)
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def _read_stick_calibration_data(self):
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user_stick_cal_addr = 0x8012 if self.is_left() else 0x801D
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@ -223,17 +214,6 @@ class JoyCon:
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def __del__(self):
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self._close()
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def set_gyro_calibration(self, offset_xyz=None, coeff_xyz=None):
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if offset_xyz:
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self._GYRO_OFFSET_X, \
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self._GYRO_OFFSET_Y, \
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self._GYRO_OFFSET_Z = offset_xyz
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if coeff_xyz:
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cx, cy, cz = coeff_xyz
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self._GYRO_COEFF_X = 0x343b / cx if cx != 0x343b else 1
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self._GYRO_COEFF_Y = 0x343b / cy if cy != 0x343b else 1
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self._GYRO_COEFF_Z = 0x343b / cz if cz != 0x343b else 1
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def set_accel_calibration(self, offset_xyz=None, coeff_xyz=None):
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if offset_xyz and coeff_xyz:
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self._ACCEL_OFFSET_X, \
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@ -414,30 +394,6 @@ class JoyCon:
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input_report[18 + sample_idx * 12])
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return data * self._ACCEL_COEFF_Z * (1 if self.is_left() else -1)
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def get_gyro_x(self, sample_idx=0):
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if sample_idx not in (0, 1, 2):
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raise IndexError('sample_idx should be between 0 and 2')
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data = self._to_int16le_from_2bytes(
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self._input_report[19 + sample_idx * 12],
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self._input_report[20 + sample_idx * 12])
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return (data - self._GYRO_OFFSET_X) * self._GYRO_COEFF_X
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def get_gyro_y(self, sample_idx=0):
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if sample_idx not in (0, 1, 2):
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raise IndexError('sample_idx should be between 0 and 2')
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data = self._to_int16le_from_2bytes(
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self._input_report[21 + sample_idx * 12],
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self._input_report[22 + sample_idx * 12])
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return (data - self._GYRO_OFFSET_Y) * self._GYRO_COEFF_Y
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def get_gyro_z(self, sample_idx=0):
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if sample_idx not in (0, 1, 2):
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raise IndexError('sample_idx should be between 0 and 2')
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data = self._to_int16le_from_2bytes(
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self._input_report[23 + sample_idx * 12],
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self._input_report[24 + sample_idx * 12])
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return (data - self._GYRO_OFFSET_Z) * self._GYRO_COEFF_Z
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def get_status(self) -> dict:
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return {
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"battery": {
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@ -490,28 +446,8 @@ class JoyCon:
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"y": self.get_accel_y(),
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"z": self.get_accel_z(),
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},
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"gyro": {
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"x": self.get_gyro_x(),
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"y": self.get_gyro_y(),
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"z": self.get_gyro_z(),
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},
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}
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def set_player_lamp_on(self, on_pattern: int):
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self._write_output_report(
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b'\x01', b'\x30',
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(on_pattern & 0xF).to_bytes(1, byteorder='little'))
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def set_player_lamp_flashing(self, flashing_pattern: int):
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self._write_output_report(
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b'\x01', b'\x30',
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((flashing_pattern & 0xF) << 4).to_bytes(1, byteorder='little'))
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def set_player_lamp(self, pattern: int):
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self._write_output_report(
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b'\x01', b'\x30',
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pattern.to_bytes(1, byteorder='little'))
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def disconnect_device(self):
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self._write_output_report(b'\x01', b'\x06', b'\x00')
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@ -46,9 +46,6 @@ class PythonicJoyCon(JoyCon):
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left_sr = property(JoyCon.get_button_left_sr)
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left_sl = property(JoyCon.get_button_left_sl)
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set_led_on = JoyCon.set_player_lamp_on
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set_led_flashing = JoyCon.set_player_lamp_flashing
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set_led = JoyCon.set_player_lamp
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disconnect = JoyCon.disconnect_device
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@property
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@ -89,54 +86,3 @@ class PythonicJoyCon(JoyCon):
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)
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for i in range(3)
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]
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@property
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def gyro(self):
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c = self._ime_yz_coeff
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return [
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(
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self.get_gyro_x(i),
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self.get_gyro_y(i) * c,
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self.get_gyro_z(i) * c,
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)
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for i in range(3)
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]
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@property
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def gyro_in_deg(self):
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c = 0.06103
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c2 = c * self._ime_yz_coeff
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return [
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(
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self.get_gyro_x(i) * c,
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self.get_gyro_y(i) * c2,
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self.get_gyro_z(i) * c2,
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)
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for i in range(3)
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]
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@property
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def gyro_in_rad(self):
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c = 0.0001694 * 3.1415926536
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c2 = c * self._ime_yz_coeff
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return [
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(
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self.get_gyro_x(i) * c,
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self.get_gyro_y(i) * c2,
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self.get_gyro_z(i) * c2,
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)
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for i in range(3)
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]
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@property
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def gyro_in_rot(self):
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c = 0.0001694
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c2 = c * self._ime_yz_coeff
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return [
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(
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self.get_gyro_x(i) * c,
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self.get_gyro_y(i) * c2,
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self.get_gyro_z(i) * c2,
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)
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for i in range(3)
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]
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