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improve vrhand.py

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This commit is contained in:
Erwin Coumans
2017-03-08 14:10:43 -08:00
parent 00d586c26f
commit f2aa67d262
1 changed files with 13 additions and 0 deletions
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13
examples/pybullet/vrhand.py
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@@ -53,15 +53,28 @@ def convertSensor(x):
b = (v-minV)/float(maxV-minV) b = (v-minV)/float(maxV-minV)
return (1.0-b) return (1.0-b)
controllerId = -1
serialSteps = 0
serialStepsUntilCheckVREvents = 3
ser = serial.Serial(port='COM9',baudrate=115200,parity=serial.PARITY_ODD,stopbits=serial.STOPBITS_TWO,bytesize=serial.SEVENBITS) ser = serial.Serial(port='COM9',baudrate=115200,parity=serial.PARITY_ODD,stopbits=serial.STOPBITS_TWO,bytesize=serial.SEVENBITS)
if (ser.isOpen()): if (ser.isOpen()):
while True: while True:
events = p.getVREvents() events = p.getVREvents()
for e in (events): for e in (events):
if (e[BUTTONS][33]&p.VR_BUTTON_IS_DOWN): if (e[BUTTONS][33]&p.VR_BUTTON_IS_DOWN):
controllerId = e[0]
if (e[0] == controllerId):
p.changeConstraint(hand_cid,e[POSITION],e[ORIENTATION], maxForce=50) p.changeConstraint(hand_cid,e[POSITION],e[ORIENTATION], maxForce=50)
serialSteps = 0
while ser.inWaiting() > 0: while ser.inWaiting() > 0:
serialSteps=serialSteps+1
if (serialSteps>serialStepsUntilCheckVREvents):
ser.flushInput()
break
line = str(ser.readline()) line = str(ser.readline())
words = line.split(",") words = line.split(",")
if (len(words)==6): if (len(words)==6):