python--手柄遥控通讯

ps-2手柄控制部分的代码（不需要做改动）

def getvalue():
    import os, struct, array
    from fcntl import ioctl

    print('avaliable devices')

    for fn in os.listdir('/dev/input'):
        if fn.startswith('js'):
            print('/dev/input/%s' % fn)

    axis_states = {}
    button_states = {}

    axis_names = {
        0x00 : 'x',
        0x01 : 'y',
        0x02 : 'z',
        0x03 : 'rx',
        0x04 : 'ry',
        0x05 : 'rz',
        0x06 : 'trottle',
        0x07 : 'rudder',
        0x08 : 'wheel',
        0x09 : 'gas',
        0x0a : 'brake',
        0x10 : 'hat0x',
        0x11 : 'hat0y',
        0x12 : 'hat1x',
        0x13 : 'hat1y',
        0x14 : 'hat2x',
        0x15 : 'hat2y',
        0x16 : 'hat3x',
        0x17 : 'hat3y',
        0x18 : 'pressure',
        0x19 : 'distance',
        0x1a : 'tilt_x',
        0x1b : 'tilt_y',
        0x1c : 'tool_width',
        0x20 : 'volume',
        0x28 : 'misc',
    }
    button_names = {
        0x120 : 'trigger',
        0x121 : 'thumb',
        0x122 : 'thumb2',
        0x123 : 'top',
        0x124 : 'top2',
        0x125 : 'pinkie',
        0x126 : 'base',
        0x127 : 'base2',
        0x128 : 'base3',
        0x129 : 'base4',
        0x12a : 'base5',
        0x12b : 'base6',
        0x12f : 'dead',
        0x130 : 'a',
        0x131 : 'b',
        0x132 : 'c',
        0x133 : 'x',
        0x134 : 'y',
        0x135 : 'z',
        0x136 : 'tl',
        0x137 : 'tr',
        0x138 : 'tl2',
        0x139 : 'tr2',
        0x13a : 'select',
        0x13b : 'start',
        0x13c : 'mode',
        0x13d : 'thumbl',
        0x13e : 'thumbr',

        0x220 : 'dpad_up',
        0x221 : 'dpad_down',
        0x222 : 'dpad_left',
        0x223 : 'dpad_right',

        # XBox 360 controller uses these codes.
        0x2c0 : 'dpad_left',
        0x2c1 : 'dpad_right',
        0x2c2 : 'dpad_up',
        0x2c3 : 'dpad_down',
    }

    axis_map = []
    button_map = []

    fn = '/dev/input/js0'
    jsdev = open(fn, 'rb')

    buf = array.array('u',str(['\0']*5))
    ioctl(jsdev, 0x80006a13 + (0x10000 * len(buf)), buf)
    js_name = buf.tostring()
    #js_name = buf.tobytes().decode('utf-8')
    #print('device name: %s' % js_name)

    # get number of axes and buttons
    buf = array.array('B', [0])
    ioctl(jsdev, 0x80016a11, buf)  # JSIOCGAXES
    num_axes = buf[0]

    buf = array.array('B', [0])
    ioctl(jsdev, 0x80016a12, buf) # JSIOCGBUTTONS
    num_buttons = buf[0]

    # Get the axis map
    buf = array.array('B', [0] * 0x40)
    ioctl(jsdev, 0x80406a32, buf) #JSIOCGAXMAP
    for axis in buf[:num_axes]:
        #print(axis)
        axis_name = axis_names.get(axis, 'unknow(0x%02x)' % axis)
        axis_map.append(axis_name)
        axis_states[axis_name] = 0.0
    
    # Get the button map.
    buf = array.array('H', [0] * 200)
    ioctl(jsdev, 0x80406a34, buf) # JSIOCGBTNMAP

    for btn in buf[:num_buttons]:
        btn_name = button_names.get(btn, 'unknown(0x%03x)' % btn)
        button_map.append(btn_name)
        button_states[btn_name] = 0
    
    return axis_map, axis_states,button_map,button_states

下面的部分是调用部分

 fn = '/dev/input/js0'
 jsdev = open(fn, 'rb')
 axis_map, axis_states, button_map, button_states = getvalue()
 evbuf = jsdev.read(8)
 if evbuf:
 	time, value, type, number = struct.unpack('IhBB', evbuf)
    if type & 0x01:
	    button = button_map[number]
	    print("the button is :" +str(button))
       	print("the number is :" +str(number))
        print("the value is :" +str(value))
     	if button:
         	button_states[button] = value
         	if(button == "b"and button_states[button] == True):
             	print("START")
         	if((button == "tr" and button_states[button] == True) or (button == "tl" and button_states[button] == True)):
           #Stop 
           		print("Stop")
    if(start.value == True):#PS2 control speed and angle start
     	if type & 0x02:
        	axis = axis_map[number]
            print("the axis is :" +str(axis))
            print("the number is :" +str(number))
            print("the value is :" +str(value))
            if axis:
                if axis == "x":

                    fvalue = value / 32767
                    axis_states[axis] = fvalue
                 
                if axis == "z":
                    fvalue = value / 32767
                    axis_states[axis] = fvalue