coxbox变换 python_怎样用Python实现对Xbox手柄的控制？

sudo apt install xboxdrv

sudo apt install python3-pygame

#使用手柄控制小车

使用serial控制

fe 轮子编号 f0 速度

如 fe 01 f0 128 第一个轮子 向前 速度为128

如 fe 01 fb 128 第一个轮子 后退 速度为128

#- coding: utf-8 -*

import serial

import time

import binascii

import sys

import pygame

import RPi.GPIO as GPIO

# 打开串口

#jetson-nano

ser = serial.Serial("/dev/ttyTHS1", 9600)

#raspberry 3b +

#ser = serial.Serial("/dev/ttyUSB0", 9600)

def init():

#ser = serial.Serial("/dev/ttyUSB0", 9600)

# 模块初始化

pygame.init()

pygame.joystick.init()

done = False

clock = pygame.time.Clock()

joystick_count = pygame.joystick.get_count()

print(joystick_count);

joystick = pygame.joystick.Joystick(0)

joystick.init()

name = joystick.get_name()

return done,name ,clock,joystick_count,joystick

def swClockwise(serial_object,wid,speed):

# speed = 20 + (speed/1.25)

serial_object.write((0xfe).to_bytes(1, byteorder='big'));

serial_object.write((wid).to_bytes(1, byteorder='big'));

serial_object.write((0xf0).to_bytes(1, byteorder='big'));

serial_object.write((speed).to_bytes(1, byteorder='big'));

# serial_object.write((0x00).to_bytes(1, byteorder='big'));

# serial_object.write((0x00).to_bytes(1, byteorder='big'));

# serial_object.write((0x00).to_bytes(1, byteorder='big'));

# serial_object.write((0x00).to_bytes(1, byteorder='big'));

# time.sleep(0.3);

return

def swCounterclockwise(serial_object,wid,speed):

# speed = 20 + (speed/1.25)

serial_object.write((0xfe).to_bytes(1, byteorder='big'));