main.py

import raider
import time
import pygame

pygame.init()
clock = pygame.time.Clock()
pygame.joystick.init()
joystick = pygame.joystick.Joystick(0)
joystick.init()

trims=[0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,-5,5,0,0,-5,0,0,0,0,0]
robot = raider.Raider(trims)
# robot.home(-140, 30)
time.sleep(0.01)

while True:
    for event in pygame.event.get():
        pass

    # axisLX = joystick.get_axis(0)
    # axisLY = joystick.get_axis(1)
    # axisRX = joystick.get_axis(2)
    # axisRY = joystick.get_axis(3)
    back = joystick.get_button(8)
    start = joystick.get_button(9)
    buttonY = joystick.get_button(0)
    buttonB = joystick.get_button(1)
    buttonA = joystick.get_button(2)
    buttonX = joystick.get_button(3)
    bumperL = joystick.get_button(4)
    bumperR = joystick.get_button(5)
    #triggerL = joystick.get_button(6)
    #triggerR = joystick.get_button(7)
    pad = joystick.get_hat(0)

    if buttonX == 1:
        print 'ue'
        robot.punchL()

    if buttonY == 1:
        print 'lift'
        robot.lift()

    elif buttonA == 1:
        print 'front punch'
        # robot.punchF()

    elif buttonB == 1:
        print 'right punch'
        robot.punchR()

    elif bumperL == 1:
        print 'setpL'
        robot.stepL(1)

    elif bumperR == 1:
        print 'stepR'
        robot.stepR(1)

    elif pad[0] == 1:
        print 'turnR'
        robot.turnR(1)

    elif pad[0] == -1:
        print 'turnL'
        robot.turnL(1)

    elif pad[1] == 1:
        print 'walk'
        robot.walk(1)

    elif pad[1] == -1:
        print 'back'
        # robot.walkB()

    elif start == 1:
        print 'get up'
        robot.getUp()

    elif back == 1:
        print 'back get up'
        robot.backGetUp()

    else:
        robot.home(-80, 30)
        pass
    clock.tick(5000)