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Joystick multi-threaded fragment now works

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Corwin Perren
2018-02-23 07:34:52 +00:00
parent 1aaf00ddbe
commit 1bf2f5e3da
1 changed files with 6 additions and 14 deletions
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20
software/fragments/joystick_drive_test.py
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@@ -20,7 +20,6 @@ from rover_drive.msg import RoverMotorDrive
# Global Variables
#####################################
GAME_CONTROLLER_NAME = "Logitech Logitech Extreme 3D Pro"
CONTROLLER_DATA_UPDATE_FREQUENCY = 10 # Times per second
#####################################
# Controller Class Definition
@@ -107,8 +106,6 @@ class LogitechJoystick(QtCore.QThread):
if self.data_acquisition_and_broadcast_flag:
self.__get_controller_data()
self.msleep(10)
def __setup_controller(self):
for device in devices.gamepads:
@@ -151,27 +148,22 @@ class Publisher(QtCore.QThread):
self.pub = rospy.Publisher("/drive/motoroneandtwo", RoverMotorDrive, queue_size=1)
self.last_time = time.time()
self.drive = RoverMotorDrive()
self.start()
def run(self):
while self.run_thread_flag:
self.__update_and_publish()
self.msleep(20)
self.msleep(50)
def __update_and_publish(self):
current_time = time.time()
if (current_time - self.last_time) > (1 / CONTROLLER_DATA_UPDATE_FREQUENCY):
drive = RoverMotorDrive()
axis = self.joystick.controller_states["left_stick_y_axis"]
axis = self.joystick.controller_states["left_stick_y_axis"]
self.drive.first_motor_direction = 1 if axis <= 512 else 0
self.drive.first_motor_speed = min(abs(self.joystick.controller_states["left_stick_y_axis"] - 512) * 128, 65535)
drive.first_motor_direction = 1 if axis <= 512 else 0
drive.first_motor_speed = min(abs(self.joystick.controller_states["left_stick_y_axis"] - 512) * 128, 65535)
self.pub.publish(drive)
self.last_time = current_time
self.pub.publish(self.drive)
if __name__ == '__main__':
qapp = QtCore.QCoreApplication(sys.argv)