update controller binding

Author: hang0610

python_binding/example_ankle_swing.py

@@ -166,8 +166,9 @@ def print_robot_status(self, state: unitree_interface.LowState, controller: unit
             print(f"  Motor {i}: {pos_deg:6.1f}° ({vel_deg:6.1f}°/s)")
 
         # Controller information
-        print(f"Controller: L_stick=[{controller.left_stick[0]:.2f}, {controller.left_stick[1]:.2f}] "
-              f"Buttons: A={controller.A} B={controller.B} X={controller.X} Y={controller.Y}")
+        print(f"Controller: L_stick=[{controller.lx:.2f}, {controller.ly:.2f}] "
+              f"Buttons: A={controller.keys == 0x0100} B={controller.keys == 0x0200} "
+              f"X={controller.keys == 0x0400} Y={controller.keys == 0x0800}")
 
         print(f"Mode machine: {state.mode_machine}")
 
@@ -188,7 +189,7 @@ def control_loop(self):
                 controller = self.read_controller_input()
 
                 # Check for emergency stop via controller
-                if controller.B:  # B button for emergency stop
+                if controller.keys == 0x0200:  # B button for emergency stop
                     print("Emergency stop requested via B button!")
                     break
 

python_binding/unitree_interface.cpp

@@ -238,21 +238,12 @@ void UnitreeInterface::WirelessControllerHandler(const void *message) {
     unitree_go::msg::dds_::WirelessController_ wireless_msg = *(const unitree_go::msg::dds_::WirelessController_ *)message;
 
     PyWirelessController controller_tmp;
-    controller_tmp.left_stick[0] = wireless_msg.lx();
-    controller_tmp.left_stick[1] = wireless_msg.ly();
-    controller_tmp.right_stick[0] = wireless_msg.rx();
-    controller_tmp.right_stick[1] = wireless_msg.ry();
 
-    // Map button states
-    const uint16_t keys = wireless_msg.keys();
-    controller_tmp.A = (keys & 0x0100) != 0;
-    controller_tmp.B = (keys & 0x0200) != 0;
-    controller_tmp.X = (keys & 0x0400) != 0;
-    controller_tmp.Y = (keys & 0x0800) != 0;
-    controller_tmp.R1 = (keys & 0x0001) != 0;
-    controller_tmp.L1 = (keys & 0x0002) != 0;
-    controller_tmp.R2 = (keys & 0x0010) != 0;
-    controller_tmp.L2 = (keys & 0x0020) != 0;
+    controller_tmp.lx = wireless_msg.lx();
+    controller_tmp.ly = wireless_msg.ly();
+    controller_tmp.rx = wireless_msg.rx();
+    controller_tmp.ry = wireless_msg.ry();
+    controller_tmp.keys = wireless_msg.keys();
 
     wireless_controller_buffer_.SetData(controller_tmp);
 }

python_binding/unitree_interface.hpp

@@ -117,16 +117,11 @@ struct PyMotorCommand {
 };
 
 struct PyWirelessController {
-  std::array<float, 2> left_stick = {};   // [x, y]
-  std::array<float, 2> right_stick = {};  // [x, y]
-  bool A = false;
-  bool B = false;
-  bool X = false;
-  bool Y = false;
-  bool L1 = false;
-  bool L2 = false;
-  bool R1 = false;
-  bool R2 = false;
+  float lx;
+  float ly;
+  float rx;
+  float ry;
+  uint16_t keys;
 };
 
 struct PyLowState {

python_binding/unitree_interface_bindings.cpp

@@ -52,16 +52,11 @@ PYBIND11_MODULE(unitree_interface, m) {
 
     py::class_<PyWirelessController>(m, "WirelessController")
         .def(py::init<>())
-        .def_readwrite("left_stick", &PyWirelessController::left_stick)
-        .def_readwrite("right_stick", &PyWirelessController::right_stick)
-        .def_readwrite("A", &PyWirelessController::A)
-        .def_readwrite("B", &PyWirelessController::B)
-        .def_readwrite("X", &PyWirelessController::X)
-        .def_readwrite("Y", &PyWirelessController::Y)
-        .def_readwrite("L1", &PyWirelessController::L1)
-        .def_readwrite("L2", &PyWirelessController::L2)
-        .def_readwrite("R1", &PyWirelessController::R1)
-        .def_readwrite("R2", &PyWirelessController::R2);
+        .def_readwrite("lx", &PyWirelessController::lx)
+        .def_readwrite("ly", &PyWirelessController::ly)
+        .def_readwrite("rx", &PyWirelessController::rx)
+        .def_readwrite("ry", &PyWirelessController::ry)
+        .def_readwrite("keys", &PyWirelessController::keys);
 
     py::class_<PyLowState>(m, "LowState")
         .def(py::init<int>())