Changes between Version 2 and Version 3 of Tutorial5AdvancedRemoteControlUsage

Timestamp:

Nov 22, 2017, 11:17:06 AM (8 years ago)

Author:

fma

Comment:

--

Tutorial5AdvancedRemoteControlUsage

@@ -1 +1 @@
 = Tutorial 5: Advanced remote control usage =
 
-As we've seen in [[Tutorial1FirstRobot|tutorial 1]], we created a '''{{{Gamepad}}}''' class in order to control our robot. This class inherits from '''{{{RemoteControl}}}''', and implements a few virtual methods.
+== Introduction ==
 
-The first method, '''{{{_createFrontend}}}''' must return a valid frontend. We just saw in [[Tutorial4AddInputFrontendSupport|previous tutorial]] how to create such frontends.
+As we've seen in [[Tutorial1FirstRobot|tutorial 1]], we created a '''{{{Gamepad}}}''' class in order to control our robot. This class inherits from '''{{{RemoteControl}}}''', and implements a few virtual methods:
+
+{{{
+#!python
+
+class Gamepad(RemoteControl):
+    def _createFrontend(self):
+        return Thrustmaster(settings.THRUSTMASTER_PATH)
+
+    def _buildComponents(self):
+        self._addConfig("walk")
+        self._addConfig("body")
+
+        self._addComponent(Button, command=self.selectNextConfig, key="button_008", trigger="hold")
+        self._addComponent(Button, command=self.selectPreviousConfig, key="button_009", trigger="hold")
+
+        self._addComponent(Button, command=self.robot.incBodyPosition, key="button_004", mapper=MapperSetValue(dz=+5))
+        self._addComponent(Button, command=self.robot.incBodyPosition, key="button_005", mapper=MapperSetValue(dz=-5))
+        self._addComponent(Joystick, configs="walk", command=GaitSequencer().walk, keys=("analog_02", "analog_03", "analog_00"), mapper=MapperWalk())
+
+        self._addComponent(Analog, configs="body", command=self.robot.setBodyExtraPosition, key="analog_00", mapper=MapperSetMultiply('yaw', coef=-15))
+        self._addComponent(Analog, configs="body", command=self.robot.setBodyExtraPosition, key="analog_03", mapper=MapperSetMultiply('pitch', coef=-15))
+        self._addComponent(Analog, configs="body", command=self.robot.setBodyExtraPosition, key="analog_02", mapper=MapperSetMultiply('roll', coef=15))
+}}}
+
+The first method, '''{{{_createFrontend()}}}''' must return a valid frontend (we just saw in [[Tutorial4AddInputFrontendSupport|previous tutorial]] how to create such frontends). This methods takes as first argument the frontend path in '''{{{/dev}}}'''. An additional argument can be given to override the '''{{{DEFAULT_AXIS_CALIBRATION}}}''' table.
+
+The second method, '''{{{_buildComponents()}}}''' is where interesting things take place. Here, we create the buttons/axis mapping to the robot controls.
+
+== Components ==
+
+'''Py4bot''' implements different components to build a custom remote control mapping:
+
+=== '''{{{Button}}}''' ===
+
+This is a simple push button, whith several ''triggers'', in order to control its behavior:
+
+ * click
+ * double-click
+ * press
+ * release
+ * hold
+ * double-hold
+
+Default trigger is ''click'' (you must press and release the button quickly).
+
+=== '''{{{Switch}}}''' ===
+
+This is a button toggling between 2 states when you press it.
+
+=== '''{{{Analog}}}''' ===
+
+This component handles a single analog axis.
+
+=== '''{{{Joystick}}}''' ===
+
+Combines several '''{{{Analog}}}''' axis.
+
+== Configurations and modifiers ==
+
+There are many commands to control the robot, and not enough physical buttons/axis on a gamepad. So, a solution is to multiplex these buttons/axis. There are 2 ways to do that: ''configurations'' and ''modifiers''. ''configurations'' allow us to change the entire mapping; ''modifiers'' only changes a button meaning.
+
+To create several ''configurations'', we use the '''{{{_addConfig()}}}''' method. This method take a string as argument, the name of the config. In our example, we created 2 ''configurations'', one to dynamically control the robot (make it walk), the other one to statically control the robot (move the body).
+