mirror of
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79 lines
2.9 KiB
Python
79 lines
2.9 KiB
Python
#!/usr/bin/env python
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"""Control a quadcopter in the air using an Xbox or Playstation game controller.
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how to run:
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```
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$ python quadcopter_controller.py --help # for help
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$ python quadcopter_controller.py --controller keyboard # to use the keyboard
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$ python quadcopter_controller.py --controller xbox # to use Xbox game controller
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$ python quadcopter_controller.py --controller ps # to use PS game controller
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```
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Mapping of the keyboard interface:
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- `top arrow`: move forward
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- `bottom arrow`: move backward
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- `left arrow`: move sideways to the left
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- `right arrow`: move sideways to the right
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- `ctrl + top arrow`: ascend
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- `ctrl + bottom arrow`: descend
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- `ctrl + left arrow`: turn to the right
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- `ctrl + right arrow`: turn to the left
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- `space`: switch between first-person and third-person view
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"""
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# import numpy as np
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from itertools import count
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import argparse
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import pyrobolearn as prl
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# create parser to select the game controller
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parser = argparse.ArgumentParser()
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parser.add_argument('-c', '--controller', help='the controller to use', type=str,
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choices=['keyboard', 'xbox', 'ps'], default='keyboard')
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args = parser.parse_args()
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# load corresponding interface
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if args.controller == 'keyboard': # keyboard interface
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from pyrobolearn.tools.interfaces.mouse_keyboard.mousekeyboard import MouseKeyboardInterface as Controller
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from pyrobolearn.tools.bridges.mouse_keyboard.bridge_mousekeyboard_quadcopter \
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import BridgeMouseKeyboardQuadcopter as Bridge
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elif args.controller == 'xbox': # Xbox interface
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from pyrobolearn.tools.interfaces.controllers.xbox import XboxControllerInterface as Controller
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from pyrobolearn.tools.bridges.controllers.robots.bridge_controller_quadcopter import BridgeControllerQuadcopter \
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as Bridge
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elif args.controller == 'ps': # PS interface
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from pyrobolearn.tools.interfaces.controllers.playstation import PSControllerInterface as Controller
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from pyrobolearn.tools.bridges.controllers.robots.bridge_controller_quadcopter import BridgeControllerQuadcopter \
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as Bridge
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else:
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raise NotImplementedError("Unknown game controller")
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# create simulator
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sim = prl.simulators.Bullet()
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# create basic world (with a floor and gravity enabled by default)
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world = prl.worlds.BasicWorld(sim)
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# load quadcopter
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robot = prl.robots.Quadcopter(sim, position=[0., 0., 2.])
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world.load_robot(robot)
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# load interface that accepts input events
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controller = Controller()
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# load bridge that connects the interface/controller with the quadcopter
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# The bridge is the one that maps the input events from the interface to commands sent to the quadcopter
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bridge = Bridge(quadcopter=robot, interface=controller)
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# run simulator
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for t in count():
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# perform a step with the bridge and interface
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bridge.step(update_interface=True)
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# perform one step in the world
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world.step(sleep_dt=1. / 240)
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