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xbox_udp链路

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meiqi
2026-03-27 21:57:52 +08:00
parent c45245038f
commit 4788c0885a
10 changed files with 746 additions and 18 deletions
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40
Deploy_Tienkung/common/xbox_control.py
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@@ -69,7 +69,6 @@ class XBOXController:
# smoothing
self.height_step = 0.05
self._load_config()
# default button map indices (can be overridden in config)
self.button_map = {
'a': 0, 'b': 1, 'x': 2, 'y': 3,
@@ -84,6 +83,8 @@ class XBOXController:
'dpad_h': 6, 'dpad_v': 7
}
self._load_config()
def _load_config(self):
try:
config_path = os.path.join('.', 'config', 'dex_config.yaml')
@@ -91,22 +92,24 @@ class XBOXController:
cfg = yaml.safe_load(f) or {}
xbox_cfg = cfg.get('xbox', {})
# override button_map if provided
# bm = xbox_cfg.get('button_map')
# if isinstance(bm, dict):
# for k, v in bm.items():
# try:
# self.button_map[k] = int(v)
# except Exception:
# pass
# # override axis_map if provided
# am = xbox_cfg.get('axis_map')
# if isinstance(am, dict):
# for k, v in am.items():
# try:
# self.axis_map[k] = int(v)
# except Exception:
# pass
bm = xbox_cfg.get('button_map')
if isinstance(bm, dict):
for k, v in bm.items():
if k in self.button_map:
try:
self.button_map[k] = int(v)
except Exception:
pass
# override axis_map if provided
am = xbox_cfg.get('axis_map')
if isinstance(am, dict):
for k, v in am.items():
if k in self.axis_map:
try:
self.axis_map[k] = int(v)
except Exception:
pass
self.initial_height = xbox_cfg.get('initial_height', 0.89)
self.forward_command_offset = xbox_cfg.get('forward_command_offset', 0.0)
@@ -155,6 +158,9 @@ class XBOXController:
# c -> gotoSTOP
if self.map.y == 1:
self.flag.fsm_state_command = 'gotoSTOP'
# a -> gotoWALKAMP
elif self.map.a == 1:
self.flag.fsm_state_command = 'gotoWALKAMP'
# h -> gotoDH (Left trigger + A)
# v -> gotoBEYONDMIMIC (Left trigger + home)
elif self.map.l_trigger < -0.5 and self.map.home == 1: