Initial check in

ps3.py

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+#!/usr/bin/env python
+########################################################################                                               
+# This is the library to read values from PS3 Dualshock 3 controller
+#                                
+# http://www.dexterindustries.com/GoPiGo/                                                                
+# History
+# ------------------------------------------------
+# Author     	Date      		Comments
+# Karan Nayan   11 July 14		Initial Authoring                                                   
+'''
+## License
+ GoPiGo for the Raspberry Pi: an open source robotics platform for the Raspberry Pi.
+ Copyright (C) 2015  Dexter Industries
+
+This program is free software: you can redistribute it and/or modify
+it under the terms of the GNU General Public License as published by
+the Free Software Foundation, either version 3 of the License, or
+(at your option) any later version.
+
+This program is distributed in the hope that it will be useful,
+but WITHOUT ANY WARRANTY; without even the implied warranty of
+MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+GNU General Public License for more details.
+
+You should have received a copy of the GNU General Public License
+along with this program.  If not, see <http://www.gnu.org/licenses/gpl-3.0.txt>.
+'''        
+#
+# Dependencies- pygame
+# Pairing the controller using bluetooth
+# http://booting-rpi.blogspot.ro/2012/08/dualshock-3-and-raspberry-pi.html
+# PS3 Key configuration http://wiki.ros.org/ps3joy
+# 
+# Key values can be obtained by creating a ps3 object and calling update() regularly
+########################################################################
+import pygame, sys, time ,os
+from pygame.locals import *
+
+# initialise pygame outside of the object so only done once
+pygame.init()
+screen = pygame.display.set_mode((1, 1), pygame.NOFRAME)
+pygame.joystick.init()
+#PS3 functions and variables
+class ps3:
+	#Initialize the controller when the oject is created
+	def __init__(self):
+		#Make the stdout buffer as 0,because of bug in Pygame which keeps on printing debug statements
+		#http://stackoverflow.com/questions/107705/python-output-buffering
+		#sys.stdout = os.fdopen(sys.stdout.fileno(), 'w', 0)
+		self.joystick_count = pygame.joystick.get_count()
+                #set to -1 to enfoce a 0 setting on first pass
+		self.lastleft = -1
+		self.lastright = -1
+		self.lastvert = -1
+		self.lastbuttontime = 0
+		# get count of joysticks=1, axes=27, buttons=19 for DualShock 3
+	def select_joystick(self, num):
+		if num == 0:
+			self.identifier = "aa"
+		elif num == 1:
+			self.identifier = "ab"
+		self.joysticknum = num
+		self.joystick = pygame.joystick.Joystick(num)
+		self.joystick.init()
+		self.numaxes = self.joystick.get_numaxes()
+		self.numbuttons = self.joystick.get_numbuttons()
+	#Update the button values
+	def update(self):
+		loopQuit = False
+		button_state=[0]*self.numbuttons
+		button_analog=[0]*self.numaxes
+		#while loopQuit == False:
+		outstr = ""
+		
+		#Start suppressing the output on stdout from Pygame
+		#devnull = open('/dev/null', 'w')
+		#oldstdout_fno = os.dup(sys.stdout.fileno())
+		#os.dup2(devnull.fileno(), 1)
+		
+		#Read analog values
+		for i in range(0,self.numaxes):
+			button_analog[i] = self.joystick.get_axis(i)
+		
+		#a_left				=button_analog[]
+		self.a_right				=button_analog[9]
+		self.a_up				=button_analog[8]
+		self.a_down				=button_analog[10]
+		self.a_l1				=button_analog[14]
+		self.a_l2				=button_analog[12]
+		self.a_r1				=button_analog[15]
+		self.a_r2				=button_analog[13]
+		self.a_triangle			=button_analog[16]
+		self.a_circle			=button_analog[17]
+		self.a_square			=button_analog[19]
+		self.a_cross				=button_analog[18]
+
+		self.a_joystick_left_x	=button_analog[0]
+		self.a_joystick_left_y	=button_analog[1]
+		self.a_joystick_right_x	=button_analog[2]
+		self.a_joystick_right_y	=button_analog[3]
+		self.acc_x				=button_analog[23]
+		self.acc_y				=button_analog[24]
+		self.acc_z				=button_analog[25]
+		
+		#Read digital values
+		for i in range(0,self.numbuttons):
+			button_state[i]=self.joystick.get_button(i)
+		self.select			=button_state[0]
+		self.joystick_left	=button_state[1]
+		self.joystick_right	=button_state[2]
+		self.start			=button_state[3]
+		self.up				=button_state[4]
+		self.right			=button_state[5]
+		self.down			=button_state[6]
+		self.left			=button_state[7]
+		self.l2				=button_state[8]
+		self.r2				=button_state[9]
+		self.l1				=button_state[10]
+		self.r1				=button_state[11]
+		self.triangle		=button_state[12]
+		self.circle			=button_state[13]
+		self.cross			=button_state[14]
+		self.square			=button_state[15]
+		self.ps				=button_state[16]
+		
+		#Enable output on stdout
+		#os.dup2(oldstdout_fno, 1)	
+		#os.close(oldstdout_fno)
+		
+		#refresh
+		pygame.event.get()
+		return button_analog
+