Surface Pi.py 文件源码

def processJoystick():
    joystick = pygame.joystick.Joystick(0) #Was in main while loop, does this work? *NOT TESTED
    joystick.init()
    for event in pygame.event.get(): # User did something
        if event.type == pygame.JOYBUTTONDOWN:
            if(joystick.get_button(10) == 1 and joystick.get_button(11) == 1): #press button 11 and 12 at the same time to kill
                global running
                running = False
    if(abs(joystick.get_axis(1)) > 0.1): #has to be moved at least a little to trigger
        processForwardBackward(joystick.get_axis(1)) #"1" should be the forward-backwards axis. CHECK THIS
    elif(abs(joystick.get_axis(3)) > 0.1):
        processYaw(joystick.get_axis(3)) #"2" should be the twist axis. CHECK THIS
    else:
        global motorLeft, motorRight
        motorLeft = THRUSTER_MID
        motorRight = THRUSTER_MID
    processVertical(joystick)
    processHat(joystick)
    processClaw(joystick)
    limitAmps()