forked from mirror/joycontrol
Robert Martin
79 lines
2.6 KiB
Python
79 lines
2.6 KiB
Python
import asyncio
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import logging
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import numpy as np
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from joycontrol import logging_default as log
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from joycontrol.hid import get_blt_hid_device, AsyncHID
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from joycontrol.report import OutputReport, OutputReportID, SubCommand, InputReport
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logger = logging.getLogger(__name__)
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async def _main():
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logger.info('Waiting for HID devices... Please connect one JoyCon (left OR right), '
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'or a Pro Controller over Bluetooth. '
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'Note: The bluez "input" plugin needs to be enabled (default)')
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controller = await get_blt_hid_device()
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logger.info(f'Found controller "{controller}".')
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timer = 0
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with AsyncHID(path=controller['path'], loop=loop) as hid_controller:
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# enable imu
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output_report = OutputReport()
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output_report.set_output_report_id(OutputReportID.SUB_COMMAND)
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output_report.set_sub_command(SubCommand.ENABLE_6AXIS_SENSOR)
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output_report.set_sub_command_data([0x01])
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output_report.set_timer(timer)
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timer += 1
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await hid_controller.write(bytes(output_report)[1:])
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# wait for ack
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while True:
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data = await hid_controller.read(50)
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report = InputReport([0xA1] + list(data))
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if report.get_input_report_id() == 0x21 and report.get_ack() == 0x80:
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logger.info(f'Ack received {report.get_reply_to_subcommand_id()}')
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break
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# switch to 0x30 input report mode
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output_report = OutputReport()
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output_report.set_output_report_id(OutputReportID.SUB_COMMAND)
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output_report.set_sub_command(SubCommand.SET_INPUT_REPORT_MODE)
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output_report.set_sub_command_data([0x30])
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output_report.set_timer(timer)
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timer += 1
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await hid_controller.write(bytes(output_report)[1:])
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# wait for ack
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while True:
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data = await hid_controller.read(50)
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report = InputReport([0xA1] + list(data))
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if report.get_input_report_id() == 0x21 and report.get_ack() == 0x80:
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logger.info(f'Ack received {report.get_reply_to_subcommand_id()}')
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break
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try:
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while True:
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data = await hid_controller.read(50)
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report = InputReport([0xA1] + list(data))
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acc, gyro = report.get_imu_data()
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print(np.array(acc))
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# print(report.data)
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except KeyboardInterrupt:
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pass
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if __name__ == '__main__':
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# setup logging
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log.configure()
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loop = asyncio.get_event_loop()
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loop.run_until_complete(
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_main()
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)
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