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aoki-rtaoki-rt
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Add PS3 remocon_sampleProgram
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‎SampleProgram/RemoCon_Step1.sh

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#!/bin/bash -xv
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trap 2
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sudo sixad -start &
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set +xv
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while true ; do
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if grep -q 0 /dev/rtswitch0 ; then
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sleep 0.1
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while grep -q 0 /dev/rtswitch0 ; do
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sleep 0.1
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done
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sudo python /home/pi/bbb.py
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break
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fi
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if grep -q 0 /dev/rtswitch1 ; then
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sleep 0.1
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while grep -q 0 /dev/rtswitch1 ; do
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sleep 0.1
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done
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break;
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fi
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if grep -q 0 /dev/rtswitch2 ; then
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sleep 0.1
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while grep -q 0 /dev/rtswitch2 ; do
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sleep 0.1
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done
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break
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fi
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echo 1 | tee /dev/rtled?
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sleep 0.5
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echo 0 | tee /dev/rtled?
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sleep 0.5
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done
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set -xv
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‎SampleProgram/RemoCon_for_PS3.py

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#!/usr/bin/python
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import sys
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file = open('/dev/input/js0','r')
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data = []
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led0 = open('/dev/rtled0','a')
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led1 = open('/dev/rtled1','a')
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led2 = open('/dev/rtled2','a')
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led3 = open('/dev/rtled3','a')
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rmotor = open('/dev/rtmotor_raw_r0','a')
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lmotor = open('/dev/rtmotor_raw_l0','a')
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motoren = open('/dev/rtmotoren0','a')
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buzzer = open('/dev/rtbuzzer0','a')
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straight = 0
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curbe =0
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while 1:
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for character in file.read(1):
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data += ['%02X' % ord(character)]
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if len(data) == 8:
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if data[6] == '01':
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if data[4] == '01':
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if data[7] == '0F':
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led3.write("1")
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elif data[7] == '0E':
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led2.write("1")
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elif data[7] == '0D':
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led1.write("1")
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elif data[7] == '0C':
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led0.write("1")
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elif data[7] == '04':
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print >> motoren,1
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print >> rmotor,500
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print >> lmotor,500
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elif data[7] == '06':
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print >> motoren,1
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print >> rmotor,-500
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print >> lmotor,-500
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elif data[7] == '05':
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print >> motoren,1
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print >> rmotor,-500
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print >> lmotor,500
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elif data[7] == '07':
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print >> motoren,1
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print >> rmotor,500
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print >> lmotor,-500
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elif data[7] == '00' :
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print >> buzzer,440
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elif data[4] == '00':
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if data[7] == '0F':
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led3.write("0")
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elif data[7] == '0E':
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led2.write("0")
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elif data[7] == '0D':
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led1.write("0")
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elif data[7] == '0C':
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led0.write("0")
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elif data[7] == '04':
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print >> motoren,0
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elif data[7] == '06':
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print >> motoren,0
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elif data[7] == '05':
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print >> motoren,0
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elif data[7] == '07':
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print >> motoren,0
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elif data[7] == '00' :
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print >> buzzer,0
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straight=0
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curbe=0
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elif data[6] == '02':#analog
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if data[7] == '01':#left
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print >> motoren,1
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if int(data[5],16) > 127:
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if int(data[5],16) < 252:
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straight = (255 - int(data[5],16)) * 5
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print "straight %d" % straight
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print >> rmotor,int(straight * (127 - curbe) / 50)
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print >> lmotor,int(straight * (127 + curbe) / 50)
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elif int(data[5],16) > 3:
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straight = -(int(data[5],16)) * 5
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print "straight %d" % straight
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print >> rmotor,int(straight * (127 - curbe ) / 50)
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print >> lmotor,int(straight * (127 + curbe) / 50)
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else :
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print >> motoren,0
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print >> lmotor,0
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print >> rmotor,0
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straight=0
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elif data[7] == '02':#right
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print >> motoren,1
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if int(data[5],16) > 127:#left
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if int(data[5],16) < 252:
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curbe = -(255 - int(data[5],16))
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print "curbe %d" % curbe
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print >> rmotor,int(straight * (127 -curbe) / 50)
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print >> lmotor,int(straight * (127 + curbe) /50)
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elif int(data[5],16) > 3:
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curbe = (int(data[5],16))
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print "curbe %d" % curbe
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print >> rmotor,int(straight * (127 - curbe) / 50)
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print >> lmotor,int(straight * (127 + curbe) / 50)
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else :
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curbe=0
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led3.flush()
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led2.flush()
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led1.flush()
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led0.flush()
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motoren.flush()
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rmotor.flush()
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lmotor.flush()
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buzzer.flush()
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data = []

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