import usb
import serial
import pdb
ps3 = usb.core.find(find_all=True, idVendor=0x054C, idProduct=0x0268)[0]
ps3.set_configuration()
ser = serial.Serial('/dev/tty.usbmodem1422', 115200, timeout=0.1)
if __name__ == "__main__":
while True:
data = ps3.ctrl_transfer(0xa1, 0x1, 0x0101, 0, 0x31)
# 0-90 and 255-135
# print "Triangle %03d Cross %03d Left JoyStick %03d" % (data[22], data[24], data[42])
ser.write("%03d%03d%03d" % (data[22], data[24], data[6]))
PwmOut forward(p26);
forward.period(0.02);
if (x_btn > 50){
back = (float(x_btn-128)/128);
}else if (triangle_btn > 50){
forward = (float(triangle_btn-128)/128);
}
if (xaxis > 120 and xaxis < 135){
left=0;
right=0;
}else if (xaxis > 130){
left = (float(xaxis-128)/128);
}else{
right = float(abs(1-float(xaxis)/128));
}