connect ps3 controller to your machine, and install ps3 controller driver for windows from here
install miniconda (for python 3.7) https://conda.io/en/master/miniconda.html
start anaconda prompt
create virtualenv
conda create joycon_standalone
activate joycon_standalonepip install pygame
pip install clickpython joycon_standalone.py [id]
| from io import StringIO | |
| from time import sleep | |
| import click | |
| import logging | |
| import numpy as np | |
| import multiprocessing as mp | |
| import pygame | |
| import queue | |
| import socket | |
| import struct | |
| import sys | |
| logger = logging.getLogger(__name__) | |
| handler = logging.StreamHandler() | |
| handler.setLevel(logging.DEBUG) | |
| logger.setLevel(logging.DEBUG) | |
| logger.addHandler(handler) | |
| logger.propagate = False | |
| PROC_COMMAND_SETUP = 0 | |
| PROC_COMMAND_RUN = 1 | |
| PROC_COMMAND_STOP = 2 | |
| class Command(): | |
| def __init__(self, ): | |
| self.id = 0 | |
| self.vel_surge = 0 | |
| self.vel_sway = 0 | |
| self.omega = 0 | |
| self.kick_speed_x = 0 | |
| self.kick_speed_z = 0 | |
| self.dribble_power = 0 | |
| def communicate(in_queue, out_queue): | |
| proc_command, data = in_queue.get() | |
| if proc_command == PROC_COMMAND_SETUP: | |
| host = data[0] | |
| port = data[1] | |
| else: | |
| print('invalid command') | |
| sys.exit() | |
| inputdata = None | |
| b_stop = False | |
| def int2chr(i): | |
| return chr(i).encode('ascii') | |
| with socket.socket(socket.AF_INET, socket.SOCK_STREAM) as s: | |
| try: | |
| s.connect((host, port)) | |
| except socket.timeout as e: | |
| logger.error('socket timeout!!!') | |
| sys.exit(1) | |
| except TimeoutError as e: | |
| logger.error('socket timeout!!!') | |
| sys.exit(1) | |
| while True: | |
| try: | |
| proc_command, data = in_queue.get(False) | |
| except queue.Empty as e: | |
| pass | |
| if proc_command == PROC_COMMAND_STOP: | |
| break | |
| kick_power = np.int(np.clip(data.kick_speed_x * 2, 0, 15)) | |
| dribble_power = np.int(np.clip(data.dribble_power / 50.0, 0.0, 15.0)) | |
| d = struct.pack('ccccfff', int2chr(0x53), | |
| int2chr(data.id), int2chr((0x10 if kick_power > 0 else 0x00) & (0x08 if data.kick_speed_z > 0 else 0)), | |
| int2chr(dribble_power << 4 + kick_power), | |
| data.vel_surge, data.vel_sway, data.omega)#, int2chr(0x0), int2chr(0x0)) | |
| checksum = 0 | |
| for c in d: | |
| checksum ^= c | |
| d = d + int2chr(checksum & 0xff) + int2chr((checksum ^ 0xff) & 0xff) | |
| s.sendall(d) | |
| # axes = joystick.get_numaxes() | |
| # buttons = joystick.get_numbuttons() | |
| # hats = joystick.get_numhats() | |
| # | |
| # logger.info("There is " + str(axes) + " axes") | |
| # logger.info("There is " + str(buttons) + " button/s") | |
| # logger.info("There is " + str(hats) + " hat/s") | |
| # def getHat(number): | |
| # if joystick.get_hat(number) != (0,0): | |
| # # returns tuple with values either 1, 0 or -1 | |
| # logger.info( "Hat value is %s, %s" %(joystick.get_hat(number)[0],joystick.get_hat(number)[1])) | |
| # logger.info( "Hat ID is %s" %(number)) | |
| @click.command() | |
| @click.argument('id', type=int) | |
| @click.option('--port', '-p', type=int, default=12345) | |
| def main(id, port): | |
| if not (0 <= id <= 12): | |
| logger.info('id should be between 0 and 12') | |
| sys.exit(1) | |
| # setup the pygame window | |
| pygame.init() | |
| screen = pygame.display.set_mode((200, 200), 0, 32) | |
| pygame.display.set_caption("joycon standalone") | |
| clock = pygame.time.Clock() | |
| myfont = pygame.font.SysFont("monospace", 15) | |
| # how many joysticks connected to computer? | |
| joystick_count = pygame.joystick.get_count() | |
| logger.info("There is " + str(joystick_count) + " joystick/s") | |
| if joystick_count == 0: | |
| # if no joysticks, quit program safely | |
| logger.info ("Error, I did not find any joysticks") | |
| pygame.quit() | |
| sys.exit() | |
| else: | |
| # initialise joystick | |
| joystick = pygame.joystick.Joystick(0) | |
| joystick.init() | |
| host = '192.168.15.%2d'%(id+10) | |
| port = port | |
| in_queue = mp.Queue() | |
| out_queue = mp.Queue() | |
| p = mp.Process(target=communicate, args=(in_queue, out_queue)) | |
| p.start() | |
| in_queue.put([PROC_COMMAND_SETUP, (host, port)]) | |
| L1 = 6 | |
| L2 = 4 | |
| R2 = 5 | |
| R1 = 7 | |
| TRIANGLE = 0 | |
| CIRCLE = 1 | |
| CROSS = 2 | |
| RECTANGLE = 3 | |
| SELECT = 8 | |
| START = 9 | |
| L3 = 10 | |
| R3 = 11 | |
| LEFT_JOY_X = 0 | |
| LEFT_JOY_Y = 1 | |
| RIGHT_JOY_X = 2 | |
| RIGHT_JOY_Y = 3 | |
| b_holonomic_mode = False | |
| b_boost_mode = False | |
| last_select_button = False | |
| command = Command() | |
| command.id = id | |
| while True: | |
| loop_exit = False | |
| for event in pygame.event.get(): | |
| # loop through events, if window shut down, quit program | |
| if event.type == pygame.QUIT: | |
| loop_exit = True | |
| if loop_exit: | |
| break | |
| # holonomic | |
| current_select_button = joystick.get_button(SELECT) | |
| if last_select_button != current_select_button and current_select_button == True: | |
| b_holonomic_mode = not b_holonomic_mode | |
| last_select_button = current_select_button | |
| # turbo | |
| vel_scale = 1 | |
| b_boost_mode = False | |
| if joystick.get_button(R1): | |
| b_boost_mode = True | |
| vel_scale = 3 | |
| if b_holonomic_mode: | |
| command.vel_surge = - joystick.get_axis(LEFT_JOY_Y) * vel_scale | |
| command.vel_sway = 0 | |
| command.omega = - joystick.get_axis(LEFT_JOY_X) * 1.57 * vel_scale | |
| else: | |
| command.vel_surge = - joystick.get_axis(LEFT_JOY_Y) * vel_scale | |
| command.vel_sway = - joystick.get_axis(LEFT_JOY_X) * vel_scale | |
| #WARN なぜかR2がとれないので右stickで回転 | |
| command.omega = - joystick.get_axis(RIGHT_JOY_X) * 1.57 * vel_scale | |
| kick_mode = '' | |
| if joystick.get_button(CROSS): | |
| command.kick_speed_x = 3 | |
| command.kick_speed_z = 0 | |
| kick_mode = 'Normal' | |
| elif joystick.get_button(CIRCLE): | |
| command.kick_speed_x = 3 | |
| command.kick_speed_z = 3 | |
| kick_mode = 'Chip' | |
| else: | |
| command.kick_speed_x = 0 | |
| command.kick_speed_z = 0 | |
| kick_mode = 'Off' | |
| b_dribble = False | |
| command.dribble_power = 0 | |
| if joystick.get_button(L1): | |
| command.dribble_power = 1 | |
| b_dribble = True | |
| # ss = StringIO() | |
| # if axes != 0: | |
| # for i in range(axes): | |
| # #getAxis(i) | |
| # ss.write("%lf "%(joystick.get_axis(i))) | |
| # logger.info(ss.getvalue()) | |
| # ss.close() | |
| screen.fill((0,0,0)) | |
| label = myfont.render("Turbo: %s"%('On' if b_boost_mode else 'Off'), 1, (255,255,255)) | |
| screen.blit(label, (30, 70)) | |
| label2 = myfont.render("Holonomic: %s"%('On' if b_holonomic_mode else 'Off'), 1, (255,255,255)) | |
| screen.blit(label2, (30, 85)) | |
| label3 = myfont.render("Kick: %s"%kick_mode, 1, (255,255,255)) | |
| screen.blit(label3, (30, 100)) | |
| label4 = myfont.render("Dribble: %s"%('On' if b_dribble else 'Off'), 1, (255,255,255)) | |
| screen.blit(label4, (30, 115)) | |
| pygame.display.update() | |
| in_queue.put([PROC_COMMAND_RUN, command]) | |
| clock.tick(60) | |
| in_queue.put([PROC_COMMAND_STOP, None]) | |
| p.join() | |
| pygame.quit() | |
| sys.exit() | |
| if __name__ == '__main__': | |
| main() |