def _update()

in lerobot/common/teleoperators/gamepad/gamepad_utils.py [0:0]

• 28 lines of code
• 23 McCabe index (conditional complexity)

    def _update(self):
        """Read and process the latest gamepad data."""
        if not self.device or not self.running:
            return

        try:
            # Read data from the gamepad
            data = self.device.read(64)
            # Interpret gamepad data - this will vary by controller model
            # These offsets are for the Logitech RumblePad 2
            if data and len(data) >= 8:
                # Normalize joystick values from 0-255 to -1.0-1.0
                self.left_x = (data[1] - 128) / 128.0
                self.left_y = (data[2] - 128) / 128.0
                self.right_x = (data[3] - 128) / 128.0
                self.right_y = (data[4] - 128) / 128.0

                # Apply deadzone
                self.left_x = 0 if abs(self.left_x) < self.deadzone else self.left_x
                self.left_y = 0 if abs(self.left_y) < self.deadzone else self.left_y
                self.right_x = 0 if abs(self.right_x) < self.deadzone else self.right_x
                self.right_y = 0 if abs(self.right_y) < self.deadzone else self.right_y

                # Parse button states (byte 5 in the Logitech RumblePad 2)
                buttons = data[5]

                # Check if RB is pressed then the intervention flag should be set
                self.intervention_flag = data[6] in [2, 6, 10, 14]

                # Check if RT is pressed
                self.open_gripper_command = data[6] in [8, 10, 12]

                # Check if LT is pressed
                self.close_gripper_command = data[6] in [4, 6, 12]

                # Check if Y/Triangle button (bit 7) is pressed for saving
                # Check if X/Square button (bit 5) is pressed for failure
                # Check if A/Cross button (bit 4) is pressed for rerecording
                if buttons & 1 << 7:
                    self.episode_end_status = "success"
                elif buttons & 1 << 5:
                    self.episode_end_status = "failure"
                elif buttons & 1 << 4:
                    self.episode_end_status = "rerecord_episode"
                else:
                    self.episode_end_status = None

        except OSError as e:
            logging.error(f"Error reading from gamepad: {e}")