Практическая работа - индивидуальное задание / ПР_Индивидуальное_задание_Мягков_БАП2201

Листинг 1 – Программа управления двумя стиками с помощью ESP32 на языке python

import sys

import time

import serial

import vgamepad as vg

PORT = "COM7" # Наш рабочий порт

BAUDRATE = 115200

# Последние считанные значения

last_values = [2048, 2048, 1, 2048, 2048, 1]

# Центры стиков, будут откалиброваны при запуске

center1_x = 2048

center1_y = 2048

center2_x = 2048

center2_y = 2048

# Настройки

DEADZONE = 300

SMOOTHING = 0.35 # 0..1, чем больше, тем резче реакция

PRINT_DEBUG = True

def clamp(value, low, high):

return max(low, min(high, value))

def read_serial_line(ser):

global last_values

try:

line = ser.readline().decode("utf-8", errors="ignore").strip()

if not line:

return last_values

parts = line.split(",")

if len(parts) != 6:

return last_values

values = [int(p) for p in parts]

last_values = values

return values

except Exception:

return last_values

def calibrate_center(ser, seconds=2.0):

print("Калибровка центра. Не трогай джойстики...")

samples = []

start = time.time()

while time.time() - start < seconds:

vals = read_serial_line(ser)

samples.append(vals)

time.sleep(0.01)

if not samples:

return 2048, 2048, 2048, 2048

avg_x1 = sum(v[0] for v in samples) // len(samples)

avg_y1 = sum(v[1] for v in samples) // len(samples)

avg_x2 = sum(v[3] for v in samples) // len(samples)

avg_y2 = sum(v[4] for v in samples) // len(samples)

print(f"Центр 1: X={avg_x1}, Y={avg_y1}")

print(f"Центр 2: X={avg_x2}, Y={avg_y2}")

return avg_x1, avg_y1, avg_x2, avg_y2

def normalize_axis(raw, center, deadzone):

delta = raw - center

if abs(delta) <= deadzone:

return 0.0

if delta > 0:

denom = 4095 - center - deadzone

if denom <= 0:

return 0.0

value = (delta - deadzone) / denom

return min(value, 1.0)

else:

denom = center - deadzone

if denom <= 0:

return 0.0

value = (delta + deadzone) / denom

return max(value, -1.0)

def to_xbox_axis(norm_value):

return int(clamp(norm_value, -1.0, 1.0) * 32767)

def smooth(prev_value, new_value, alpha):

return prev_value * (1.0 - alpha) + new_value * alpha

def main():

global center1_x, center1_y, center2_x, center2_y

try:

ser = serial.Serial(PORT, BAUDRATE, timeout=0.05)

except Exception as e:

print(f"Не удалось открыть порт {PORT}: {e}")

sys.exit(1)

gamepad = vg.VX360Gamepad()

time.sleep(2.0) # дать порту стабилизироваться

center1_x, center1_y, center2_x, center2_y = calibrate_center(ser, seconds=2.0)

print("Геймпад запущен.")

print("SW первого джойстика -> A")

print("SW второго джойстика -> B")

print("Ctrl+C для выхода")

filtered_lx = 0.0

filtered_ly = 0.0

filtered_rx = 0.0

filtered_ry = 0.0

last_debug_time = 0

try:

while True:

x1, y1, s1, x2, y2, s2 = read_serial_line(ser)

raw_lx = normalize_axis(x1, center1_x, DEADZONE)

raw_ly = normalize_axis(y1, center1_y, DEADZONE)

raw_rx = normalize_axis(x2, center2_x, DEADZONE)

raw_ry = normalize_axis(y2, center2_y, DEADZONE)

# Сглаживание

filtered_lx = smooth(filtered_lx, raw_lx, SMOOTHING)

filtered_ly = smooth(filtered_ly, raw_ly, SMOOTHING)

filtered_rx = smooth(filtered_rx, raw_rx, SMOOTHING)

filtered_ry = smooth(filtered_ry, raw_ry, SMOOTHING)

# Отправка в виртуальный Xbox-геймпад

gamepad.left_joystick(

x_value=to_xbox_axis(filtered_lx),

y_value=to_xbox_axis(-filtered_ly) # инверсия Y

)

gamepad.right_joystick(

x_value=to_xbox_axis(filtered_rx),

y_value=to_xbox_axis(-filtered_ry) # инверсия Y

)

# Кнопки

if s1 == 0:

gamepad.press_button(button=vg.XUSB_BUTTON.XUSB_GAMEPAD_A)

else:

gamepad.release_button(button=vg.XUSB_BUTTON.XUSB_GAMEPAD_A)

if s2 == 0:

gamepad.press_button(button=vg.XUSB_BUTTON.XUSB_GAMEPAD_B)

else:

gamepad.release_button(button=vg.XUSB_BUTTON.XUSB_GAMEPAD_B)

gamepad.update()

# Отладка раз в 0.2 сек

now = time.time()

if PRINT_DEBUG and (now - last_debug_time > 0.2):

last_debug_time = now

print(

f"J1 raw=({x1:4d},{y1:4d}) norm=({filtered_lx:+.2f},{filtered_ly:+.2f}) | "

f"J2 raw=({x2:4d},{y2:4d}) norm=({filtered_rx:+.2f},{filtered_ry:+.2f})"

)

time.sleep(0.01)

except KeyboardInterrupt:

print("Остановлено.")

finally:

ser.close()

if __name__ == "__main__":

main()