caperren/osurc_mars_rover_2017_2018
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Printing axis data.

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Corwin Perren
2018-02-26 22:30:42 -08:00
parent 18c135a853
commit 3b8572a665
1 changed files with 10 additions and 5 deletions
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15
software/ground_station/Framework/DriveSystems/RoverDriveSender.py
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@@ -17,6 +17,8 @@ GAME_CONTROLLER_NAME = "Logitech Logitech Extreme 3D Pro"
DEFAULT_DRIVE_COMMAND_TOPIC = "command_control/groundstation_drive"
DRIVE_COMMAND_HERTZ = 15
#####################################
# Controller Class Definition
@@ -36,14 +38,14 @@ class LogitechJoystick(QtCore.QThread):
self.controller_states = {
"left_stick_x_axis": 0,
"left_stick_y_axis": 0,
"y_axis": 0,
"left_stick_center_pressed": 0,
"right_stick_x_axis": 0,
"right_stick_y_axis": 0,
"right_stick_center_pressed": 0,
"left_trigger_z_axis": 0,
"z_axis": 0,
"left_bumper_pressed": 0,
"right_trigger_z_axis": 0,
@@ -64,14 +66,14 @@ class LogitechJoystick(QtCore.QThread):
self.raw_mapping_to_class_mapping = {
"ABS_X": "left_stick_x_axis",
"ABS_Y": "left_stick_y_axis",
"ABS_Y": "y_axis",
"BTN_THUMBL": "left_stick_center_pressed",
"ABS_RX": "right_stick_x_axis",
"ABS_RY": "right_stick_y_axis",
"BTN_THUMBR": "right_stick_center_pressed",
"ABS_Z": "left_trigger_z_axis",
"ABS_Z": "z_axis",
"BTN_TL": "left_bumper_pressed",
"ABS_RZ": "right_trigger_z_axis",
@@ -104,6 +106,7 @@ class LogitechJoystick(QtCore.QThread):
def __setup_controller(self):
for device in devices.gamepads:
print device
if device.name == GAME_CONTROLLER_NAME:
self.gamepad = device
@@ -152,6 +155,8 @@ class RoverDriveSender(QtCore.QThread):
# Publishers
self.drive_command_publisher = rospy.Publisher(DEFAULT_DRIVE_COMMAND_TOPIC, DriveCommandMessage, queue_size=1)
self.wait_time = 1 / DRIVE_COMMAND_HERTZ
def run(self):
while self.run_thread_flag:
@@ -169,7 +174,7 @@ class RoverDriveSender(QtCore.QThread):
def __update_and_publish(self):
# axis = self.joystick.controller_states["left_stick_y_axis"]
print self.joystick.controller_states
print self.joystick.controller_states["y_axis"], self.joystick.controller_states["z_axis"]
def setup_signals(self, start_signal, signals_and_slots_signal, kill_signal):
start_signal.connect(self.start)