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Added watchdog for drive coordinator. Removed background from compass. Tuned some stuff on ground station drive sender.

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This commit is contained in:
Corwin Perren
2018-03-01 19:50:45 -08:00
parent 6d9ed5d438
commit 2a37f6fe2e
4 changed files with 234 additions and 73 deletions
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3
software/ros_packages/ground_station/src/Framework/DriveSystems/RoverDriveSender.py
View File

@@ -19,7 +19,7 @@ DEFAULT_DRIVE_COMMAND_TOPIC = "/rover_control/command_control/ground_station_dri
DRIVE_COMMAND_HERTZ = 15
Y_AXIS_DEADBAND = 0.015
Y_AXIS_DEADBAND = 0.025
X_AXIS_DEADBAND = 0.025
THROTTLE_MIN = 0.05
@@ -104,7 +104,6 @@ class LogitechJoystick(QtCore.QThread):
def __setup_controller(self):
for device in devices.gamepads:
print device
if device.name == GAME_CONTROLLER_NAME:
self.gamepad = device

263
software/ros_packages/ground_station/src/Resources/Ui/right_screen.ui
View File

@@ -85,8 +85,29 @@
</size>
</property>
<layout class="QVBoxLayout" name="verticalLayout_44">
<property name="spacing">
<number>0</number>
</property>
<property name="leftMargin">
<number>0</number>
</property>
<property name="topMargin">
<number>0</number>
</property>
<property name="rightMargin">
<number>0</number>
</property>
<property name="bottomMargin">
<number>6</number>
</property>
<item>
<layout class="QHBoxLayout" name="horizontalLayout_9">
<property name="spacing">
<number>0</number>
</property>
<property name="bottomMargin">
<number>6</number>
</property>
<item>
<widget class="QLabel" name="label_44">
<property name="font">
@@ -502,6 +523,13 @@
</property>
</spacer>
</item>
<item>
<widget class="Line" name="line">
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
</widget>
</item>
</layout>
</widget>
</item>
@@ -549,6 +577,13 @@
<property name="spacing">
<number>0</number>
</property>
<item row="0" column="1">
<widget class="Line" name="line_2">
<property name="orientation">
<enum>Qt::Vertical</enum>
</property>
</widget>
</item>
<item row="0" column="0">
<layout class="QVBoxLayout" name="verticalLayout_5">
<property name="spacing">
@@ -565,55 +600,6 @@
<property name="spacing">
<number>0</number>
</property>
<item row="0" column="0">
<widget class="QLabel" name="label_8">
<property name="font">
<font>
<pointsize>17</pointsize>
<weight>75</weight>
<bold>true</bold>
</font>
</property>
<property name="text">
<string>Heading</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
</widget>
</item>
<item row="1" column="2">
<widget class="QLabel" name="next_goal_label">
<property name="font">
<font>
<pointsize>14</pointsize>
</font>
</property>
<property name="text">
<string>258°</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
</widget>
</item>
<item row="0" column="2">
<widget class="QLabel" name="label_10">
<property name="font">
<font>
<pointsize>17</pointsize>
<weight>75</weight>
<bold>true</bold>
</font>
</property>
<property name="text">
<string>Next Goal</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
</widget>
</item>
<item row="1" column="0">
<widget class="QLabel" name="current_heading_label">
<property name="font">
@@ -642,23 +628,137 @@
</property>
</spacer>
</item>
<item row="0" column="0">
<widget class="QLabel" name="label_8">
<property name="font">
<font>
<pointsize>17</pointsize>
<weight>75</weight>
<bold>true</bold>
</font>
</property>
<property name="text">
<string>Heading</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
</widget>
</item>
<item row="0" column="2">
<widget class="QLabel" name="label_10">
<property name="font">
<font>
<pointsize>17</pointsize>
<weight>75</weight>
<bold>true</bold>
</font>
</property>
<property name="text">
<string>Next Goal</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
</widget>
</item>
<item row="1" column="2">
<widget class="QLabel" name="next_goal_label">
<property name="font">
<font>
<pointsize>14</pointsize>
</font>
</property>
<property name="text">
<string>258°</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
</widget>
</item>
</layout>
</item>
<item>
<widget class="QLabel" name="compass_label">
<property name="minimumSize">
<spacer name="verticalSpacer_6">
<property name="orientation">
<enum>Qt::Vertical</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>275</width>
<height>275</height>
<width>20</width>
<height>40</height>
</size>
</property>
<property name="text">
<string/>
</spacer>
</item>
<item>
<layout class="QHBoxLayout" name="horizontalLayout_7">
<item>
<spacer name="horizontalSpacer_4">
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>40</width>
<height>20</height>
</size>
</property>
</spacer>
</item>
<item>
<widget class="QLabel" name="heading_compass_label">
<property name="minimumSize">
<size>
<width>275</width>
<height>275</height>
</size>
</property>
<property name="maximumSize">
<size>
<width>275</width>
<height>275</height>
</size>
</property>
<property name="text">
<string/>
</property>
<property name="scaledContents">
<bool>true</bool>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
</widget>
</item>
<item>
<spacer name="horizontalSpacer_5">
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>40</width>
<height>20</height>
</size>
</property>
</spacer>
</item>
</layout>
</item>
<item>
<spacer name="verticalSpacer_5">
<property name="orientation">
<enum>Qt::Vertical</enum>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
<property name="sizeHint" stdset="0">
<size>
<width>20</width>
<height>40</height>
</size>
</property>
</widget>
</spacer>
</item>
</layout>
</item>
@@ -687,7 +787,7 @@
</property>
<layout class="QVBoxLayout" name="verticalLayout">
<property name="spacing">
<number>6</number>
<number>0</number>
</property>
<property name="leftMargin">
<number>6</number>
@@ -720,6 +820,9 @@
</item>
<item>
<layout class="QHBoxLayout" name="horizontalLayout_2">
<property name="spacing">
<number>0</number>
</property>
<item>
<widget class="QLabel" name="label_2">
<property name="font">
@@ -749,6 +852,19 @@
</item>
</layout>
</item>
<item>
<spacer name="verticalSpacer_3">
<property name="orientation">
<enum>Qt::Vertical</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>20</width>
<height>40</height>
</size>
</property>
</spacer>
</item>
<item>
<widget class="QLabel" name="label_3">
<property name="font">
@@ -791,6 +907,19 @@
</property>
</widget>
</item>
<item>
<spacer name="verticalSpacer_4">
<property name="orientation">
<enum>Qt::Vertical</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>20</width>
<height>40</height>
</size>
</property>
</spacer>
</item>
<item>
<widget class="QLabel" name="label_4">
<property name="font">
@@ -810,6 +939,9 @@
</item>
<item>
<layout class="QFormLayout" name="formLayout">
<property name="horizontalSpacing">
<number>6</number>
</property>
<item row="0" column="0">
<widget class="QLabel" name="label_5">
<property name="font">
@@ -876,6 +1008,19 @@
</item>
</layout>
</item>
<item>
<spacer name="verticalSpacer_2">
<property name="orientation">
<enum>Qt::Vertical</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>20</width>
<height>40</height>
</size>
</property>
</spacer>
</item>
</layout>
</widget>
</item>

2
software/ros_packages/ground_station/src/ground_station.py
View File

@@ -105,7 +105,7 @@ class GroundStation(QtCore.QObject):
self.start_threads_signal.emit()
compass_image = PIL.Image.open("Resources/Images/compass.png").resize((300, 300)) # PIL.Image
self.shared_objects["screens"]["right_screen"].compass_label.setPixmap(QtGui.QPixmap.fromImage(ImageQt(compass_image)))
self.shared_objects["screens"]["right_screen"].heading_compass_label.setPixmap(QtGui.QPixmap.fromImage(ImageQt(compass_image)))
def ___ros_master_running(self):
checker = ROSMasterChecker.ROSMasterChecker()