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Change AI throttle Multiplier on the joystick #943

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Change AI throttle Multiplier on the joystick #943

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21 changes: 21 additions & 0 deletions donkeycar/parts/controller.py
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Original file line number Diff line number Diff line change
Expand Up @@ -822,6 +822,7 @@ def __init__(self, poll_delay=0.0,
throttle_scale=1.0,
steering_scale=1.0,
throttle_dir=-1.0,
ai_scale = 1.0,
dev_fn='/dev/input/js0',
auto_record_on_throttle=True):

Expand All @@ -833,6 +834,7 @@ def __init__(self, poll_delay=0.0,
self.last_throttle_axis_val = 0
self.throttle_scale = throttle_scale
self.steering_scale = steering_scale
self.ai_scale = ai_scale
self.throttle_dir = throttle_dir
self.recording = False
self.constant_throttle = False
Expand Down Expand Up @@ -1044,6 +1046,22 @@ def decrease_max_throttle(self):

print('throttle_scale:', self.throttle_scale)

def increase_ai_throttle(self):
'''
increase AI throttle scale setting
'''
self.ai_scale = round(min(2.0, self.ai_scale + 0.01), 3)

print('AI scale :', self.ai_scale)

def decrease_ai_throttle(self):
'''
decrrease AI throttle scale setting
'''
self.ai_scale = round(max(0.0, self.ai_scale - 0.01), 2)

print('AI Scale:', self.ai_scale)


def toggle_constant_throttle(self):
'''
Expand Down Expand Up @@ -1193,6 +1211,8 @@ def init_trigger_maps(self):
'cross' : self.emergency_stop,
'dpad_up' : self.increase_max_throttle,
'dpad_down' : self.decrease_max_throttle,
'dpad_left' : self.decrease_ai_throttle,
'dpad_right' : self.increase_ai_throttle,
'start' : self.toggle_constant_throttle,
"R1" : self.chaos_monkey_on_right,
"L1" : self.chaos_monkey_on_left,
Expand Down Expand Up @@ -1681,6 +1701,7 @@ def get_js_controller(cfg):
ctr = cont_class(throttle_dir=cfg.JOYSTICK_THROTTLE_DIR,
throttle_scale=cfg.JOYSTICK_MAX_THROTTLE,
steering_scale=cfg.JOYSTICK_STEERING_SCALE,
ai_scale = cfg.AI_THROTTLE_MULT,
auto_record_on_throttle=cfg.AUTO_RECORD_ON_THROTTLE,
dev_fn=cfg.JOYSTICK_DEVICE_FILE)

Expand Down
6 changes: 5 additions & 1 deletion donkeycar/templates/complete.py
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Original file line number Diff line number Diff line change
Expand Up @@ -210,6 +210,7 @@ def drive(cfg, model_path=None, use_joystick=False, model_type=None,
throttle_dir=cfg.JOYSTICK_THROTTLE_DIR,
throttle_scale=cfg.JOYSTICK_MAX_THROTTLE,
steering_scale=cfg.JOYSTICK_STEERING_SCALE,
ai_scale = cfg.AI_THROTTLE_MULT,
auto_record_on_throttle=cfg.AUTO_RECORD_ON_THROTTLE)
ctr.set_deadzone(cfg.JOYSTICK_DEADZONE)
elif cfg.CONTROLLER_TYPE == "MM1":
Expand Down Expand Up @@ -488,6 +489,9 @@ class DriveMode:
def run(self, mode,
user_angle, user_throttle,
pilot_angle, pilot_throttle):

mul = ctr.ai_scale
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How is this expected to work if ctr != MyJoyStickController?

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How is this expected to work if ctr != MyJoyStickController?


if mode == 'user':
return user_angle, user_throttle

Expand All @@ -496,7 +500,7 @@ def run(self, mode,

else:
return pilot_angle if pilot_angle else 0.0, \
pilot_throttle * cfg.AI_THROTTLE_MULT \
pilot_throttle * mul \
if pilot_throttle else 0.0

V.add(DriveMode(),
Expand Down