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with '#' will be ignored, and an empty message aborts the commit. On branch master Your branch is ahead of 'origin/master' by 2 commits. (use "git push" to publish your local commits) Changes to be committed: modified: .gitignore modified: README.md new file: bashes/auto-wifi-connect.service new file: bashes/auto-wifi-connect.sh deleted: keyboard_control.py new file: my_model/image.png new file: path_follower_demo.py new file: scripts/PIDtracking.py new file: scripts/__pycache__/publish_sine_path.cpython-310.pyc new file: scripts/publish_sine_path.py modified: src/gc_navigation2_slamtoolbox/params/gc_navigation_slam.yaml modified: src/gc_navigation2_slamtoolbox/params/gc_navigation_slam.yaml.bak new file: src/gc_navigation2_slamtoolbox/params/gc_navigation_slam.yaml.bak2 modified: src/origincar_base/config/ekf.yaml new file: src/origincar_base/config/ekf.yaml.bak modified: src/origincar_base/launch/base_serial.launch.py new file: src/origincar_base/launch/base_serial.launch.py.bak modified: src/origincar_base/launch/origincar_bringup.launch.py new file: src/past_control/CMakeLists.txt new file: src/past_control/config/past_control.yaml new file: src/past_control/include/past_control/tools.h new file: src/past_control/launch/past_control.launch.py new file: src/past_control/msg/Obstacle.msg new file: src/past_control/msg/ObstacleArray.msg new file: src/past_control/package.xml new file: src/past_control/src/lane_follower_node.cpp new file: src/past_control/src/obstacle_detector_node.cpp new file: src/past_control/src/racing_orchestrator.cpp new file: src/planner/CMakeLists.txt new file: src/planner/config/planner.yaml new file: src/planner/launch/planner.launch.py new file: src/planner/package.xml new file: src/planner/src/planner_version.cpp modified: src/qr_detection/src/qr_dete_depth.cpp new file: src/racing_control/CMakeLists.txt new file: src/racing_control/include/racing_control/racing_control.hpp new file: src/racing_control/package.xml new file: src/racing_control/src/racing_control.cpp modified: src/vlm_detect/setup.py new file: src/vlm_detect/vlm_detect/__pycache__/__init__.cpython-310.pyc new file: src/vlm_detect/vlm_detect/__pycache__/tts_node.cpython-310.pyc new file: src/vlm_detect/vlm_detect/test_publisher.py new file: src/vlm_detect/vlm_detect/tts_node.py modified: src/vlm_detect/vlm_detect/vlm_node.py new file: tools/measure_turning_radius.py new file: tools/set_volume.py new file: tools/udp_to_cmdvel.py new file: tools/windows_keyboard_control.py new file: vlm_server.py new file: "\350\260\203\350\257\225\350\256\260\345\275\225.Assets/1.png" renamed: "\350\260\203\350\257\225\350\256\260\345\275\225.log" -> "\350\260\203\350\257\225\350\256\260\345\275\225.md"
138 lines
3.7 KiB
Python
138 lines
3.7 KiB
Python
#!/usr/bin/env python3
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"""
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Windows keyboard control → UDP → RDKx5
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Simultaneous keys supported (W+A = forward-left, etc.)
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Usage:
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1. pip install keyboard
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2. Run this script on Windows
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3. RDKx5 must be running udp_to_cmdvel node
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Controls:
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W/S : forward / backward
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A/D : turn left / right
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Q/E : left-forward / right-forward (single-key diagonal)
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Z/C : left-backward / right-backward
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Space : emergency stop
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I/K : linear speed +/-
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J/L : angular speed +/-
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Esc : quit
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"""
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import keyboard
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import socket
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import struct
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import time
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import sys
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# ========== CONFIG ==========
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ROBOT_IP = "192.168.10.210"
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UDP_PORT = 9999
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# ============================
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HELP = """
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========================================
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Windows Keyboard Control → RDKx5
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========================================
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W/S : forward / backward
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A/D : turn left / right
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Q/E : left-forward / right-forward
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Z/C : left-backward / right-backward
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Space : STOP
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I/K : linear speed +/- (step 0.05)
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J/L : angular speed +/- (step 0.1)
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Esc : quit
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========================================
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Current: lin=%.2f ang=%.2f
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"""
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def main():
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sock = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
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lin_speed = 0.2
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ang_speed = 0.5
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lin_step = 0.05
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ang_step = 0.1
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def print_help():
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print(HELP % (lin_speed, ang_speed))
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print("Connecting to %s:%d ..." % (ROBOT_IP, UDP_PORT))
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print_help()
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while True:
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if keyboard.is_pressed('esc'):
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sock.sendto(struct.pack('dd', 0.0, 0.0), (ROBOT_IP, UDP_PORT))
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print("\nQuit.")
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break
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# Speed adjustments (one-shot, debounced by keyboard library)
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if keyboard.is_pressed('i'):
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lin_speed = round(lin_speed + lin_step, 2)
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print_help()
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time.sleep(0.15)
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continue
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if keyboard.is_pressed('k'):
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lin_speed = round(max(0.0, lin_speed - lin_step), 2)
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print_help()
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time.sleep(0.15)
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continue
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if keyboard.is_pressed('j'):
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ang_speed = round(ang_speed + ang_step, 2)
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print_help()
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time.sleep(0.15)
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continue
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if keyboard.is_pressed('l'):
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ang_speed = round(max(0.0, ang_speed - ang_step), 2)
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print_help()
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time.sleep(0.15)
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continue
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# Emergency stop
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if keyboard.is_pressed('space'):
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sock.sendto(struct.pack('dd', 0.0, 0.0), (ROBOT_IP, UDP_PORT))
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print("*** STOP ***")
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time.sleep(0.05)
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continue
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# Combined movement: multi-key support
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lin = 0.0
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ang = 0.0
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if keyboard.is_pressed('w'):
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lin += lin_speed
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if keyboard.is_pressed('s'):
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lin -= lin_speed
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if keyboard.is_pressed('a'):
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ang += ang_speed
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if keyboard.is_pressed('d'):
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ang -= ang_speed
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# Single-key diagonals (override if used)
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if keyboard.is_pressed('q'):
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lin, ang = lin_speed, ang_speed
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if keyboard.is_pressed('e'):
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lin, ang = lin_speed, -ang_speed
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if keyboard.is_pressed('z'):
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lin, ang = -lin_speed, ang_speed
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if keyboard.is_pressed('c'):
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lin, ang = -lin_speed, -ang_speed
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sock.sendto(struct.pack('dd', round(lin, 3), round(ang, 3)),
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(ROBOT_IP, UDP_PORT))
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time.sleep(0.05) # 20Hz
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if __name__ == "__main__":
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print("Installing keyboard library if needed...")
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try:
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import keyboard
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except ImportError:
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print("ERROR: 'keyboard' library not installed.")
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print("Run: pip install keyboard")
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sys.exit(1)
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main()
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