Verison 1.0.3 Release

Based on Buildbotics 0.4.14

src/py/bbctrl/Jog.py

@@ -0,0 +1,93 @@
+################################################################################
+#                                                                              #
+#                This file is part of the Buildbotics firmware.                #
+#                                                                              #
+#                  Copyright (c) 2015 - 2018, Buildbotics LLC                  #
+#                             All rights reserved.                             #
+#                                                                              #
+#     This file ("the software") is free software: you can redistribute it     #
+#     and/or modify it under the terms of the GNU General Public License,      #
+#      version 2 as published by the Free Software Foundation. You should      #
+#      have received a copy of the GNU General Public License, version 2       #
+#     along with the software. If not, see <http://www.gnu.org/licenses/>.     #
+#                                                                              #
+#     The software 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       #
+#               Lesser General Public License for more details.                #
+#                                                                              #
+#       You should have received a copy of the GNU Lesser General Public       #
+#                License along with the software.  If not, see                 #
+#                       <http://www.gnu.org/licenses/>.                        #
+#                                                                              #
+#                For information regarding this software email:                #
+#                  "Joseph Coffland" <joseph@buildbotics.com>                  #
+#                                                                              #
+################################################################################
+
+import inevent
+from inevent.Constants import *
+
+
+# Listen for input events
+class Jog(inevent.JogHandler):
+    def __init__(self, ctrl):
+        self.ctrl = ctrl
+        self.log = ctrl.log.get('Jog')
+
+        config = {
+            "Logitech Logitech RumblePad 2 USB": {
+                "deadband": 0.1,
+                "axes":     [ABS_X, ABS_Y, ABS_RZ, ABS_Z],
+                "dir":      [1, -1, -1, 1],
+                "arrows":   [ABS_HAT0X, ABS_HAT0Y],
+                "speed":    [0x120, 0x121, 0x122, 0x123],
+                "lock":     [0x124, 0x125],
+            },
+
+            "default": {
+                "deadband": 0.1,
+                "axes":     [ABS_X, ABS_Y, ABS_RY, ABS_RX],
+                "dir":      [1, -1, -1, 1],
+                "arrows":   [ABS_HAT0X, ABS_HAT0Y],
+                "speed":    [0x133, 0x130, 0x131, 0x134],
+                "lock":     [0x136, 0x137],
+            }
+        }
+
+        super().__init__(config)
+
+        self.v = [0.0] * 4
+        self.lastV = self.v
+        self.callback()
+
+        self.processor = inevent.InEvent(ctrl.ioloop, self, types = ['js'])
+
+
+    def up(self): self.ctrl.lcd.page_up()
+    def down(self): self.ctrl.lcd.page_down()
+    def left(self): self.ctrl.lcd.page_left()
+    def right(self): self.ctrl.lcd.page_right()
+
+
+    def callback(self):
+        if self.v != self.lastV:
+            self.lastV = self.v
+            try:
+                axes = {}
+                for i in range(len(self.v)): axes["xyzabc"[i]] = self.v[i]
+                self.ctrl.mach.jog(axes)
+
+            except Exception as e:
+                self.log.warning('Jog: %s', e)
+
+        self.ctrl.ioloop.call_later(0.25, self.callback)
+
+
+    def changed(self):
+        scale = 1.0
+        if self.speed == 1: scale = 1.0 / 128.0
+        if self.speed == 2: scale = 1.0 / 32.0
+        if self.speed == 3: scale = 1.0 / 4.0
+
+        self.v = [x * scale for x in self.axes]