三鶯重工(サンイン重工)のワンハンドルマスコンをPythonで扱うためのサンプルコード・プロトタイプです。一応動きます
| #coding: utf-8 | |
| # サンイン重工 OHC-PC01AコントローラからPythonへ繋ぎこむライブラリ | |
| import pygame | |
| import time | |
| class OHC_PC01A: | |
| def __init__(self): | |
| pygame.init() | |
| pygame.joystick.init() | |
| self.joy = pygame.joystick.Joystick(0) | |
| self.joy.init() | |
| # 主幹制御器状態から力行ノッチ・ブレーキノッチ指令に変換する | |
| def convertPosToAccelBrake(self, pos): | |
| if pos == [1, 0, 0, 1]: | |
| # [力行ノッチ, ブレーキノッチ] | |
| return [0, 1] | |
| if pos == [1, 0, 0, 0]: | |
| return [0, 2] | |
| if pos == [0, 1, 1, 1]: | |
| return [0, 3] | |
| if pos == [0, 1, 1, 0]: | |
| return [0, 4] | |
| if pos == [0, 1, 0, 1]: | |
| return [0, 5] | |
| if pos == [0, 1, 0, 0]: | |
| return [0, 6] | |
| if pos == [0, 0, 1, 1]: | |
| return [0, 7] | |
| if pos == [0, 0, 1, 0]: | |
| return [0, 8] | |
| if pos == [0, 0, 0, 1]: | |
| return [0, 9] | |
| if pos == [1, 0, 1, 1]: | |
| return [1, 0] | |
| if pos == [1, 1, 0, 0]: | |
| return [2, 0] | |
| if pos == [1, 1, 0, 1]: | |
| return [3, 0] | |
| if pos == [1, 1, 1, 0]: | |
| return [4, 0] | |
| if pos == [1, 1, 1, 1]: | |
| return [5, 0] | |
| return [0,0] | |
| # 主幹制御器全体の状態を返す | |
| def getStatus(self): | |
| pygame.event.get() | |
| accel_knotch, brake_knotch = self.convertPosToAccelBrake([ | |
| self.joy.get_button(6), | |
| self.joy.get_button(7), | |
| self.joy.get_button(8), | |
| self.joy.get_button(9) | |
| ]) | |
| ax = self.joy.get_axis(1) | |
| if ax < 0: | |
| way = -1 | |
| elif ax == 0.0: | |
| way = 0 | |
| elif ax > 0: | |
| way = 1 | |
| return { | |
| 'accel_knotch': accel_knotch, | |
| 'brake_knotch': brake_knotch, | |
| 'way': way, | |
| 'black': bool(self.joy.get_button(0)), | |
| 'white': bool(self.joy.get_button(1)), | |
| 'yellow': bool(self.joy.get_button(2)), | |
| } | |
| if __name__ == '__main__': | |
| m = OHC_PC01A() | |
| while True: | |
| print(m.getStatus()) | |
| time.sleep(0.2) |
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