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Switched to a new controller and renamed control system files to a better naming convention

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This commit is contained in:
Corwin Perren
2018-08-12 16:23:03 -07:00
parent a4f04eda7e
commit 421177a523
7 changed files with 43 additions and 33 deletions
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48
software/ros_packages/ground_station/src/Framework/InputSystems/LogitechControllerControlSender.py → software/ros_packages/ground_station/src/Framework/ControlSystems/DriveAndCameraControlSender.py
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@@ -13,7 +13,7 @@ from rover_control.msg import DriveCommandMessage, TowerPanTiltControlMessage
#####################################
# Global Variables
#####################################
GAME_CONTROLLER_NAME = "Logitech Logitech Dual Action"
GAME_CONTROLLER_NAME = "Microsoft X-Box One S pad"
DEFAULT_DRIVE_COMMAND_TOPIC = "/rover_control/command_control/ground_station_drive"
DEFAULT_TOWER_PAN_TILT_COMMAND_TOPIC = "/rover_control/tower/pan_tilt/control"
@@ -21,10 +21,10 @@ DEFAULT_CHASSIS_PAN_TILT_COMMAND_TOPIC = "/rover_control/chassis/pan_tilt/contro
DRIVE_COMMAND_HERTZ = 20
STICK_DEADBAND = 8
STICK_DEADBAND = 3500
STICK_MAX = 128.0
STICK_OFFSET = 127
STICK_MAX = 32768.0
STICK_OFFSET = 0
THROTTLE_MIN = 0.05
@@ -58,10 +58,10 @@ class LogitechJoystick(QtCore.QThread):
self.gamepad = None # type: GamePad
self.controller_states = {
"left_x_axis": 127,
"left_y_axis": 127,
"right_x_axis": 127,
"right_y_axis": 127,
"left_x_axis": 0,
"left_y_axis": 0,
"right_x_axis": 0,
"right_y_axis": 0,
"left_trigger": 0,
"right_trigger": 0,
@@ -87,28 +87,28 @@ class LogitechJoystick(QtCore.QThread):
self.raw_mapping_to_class_mapping = {
"ABS_X": "left_x_axis",
"ABS_Y": "left_y_axis",
"ABS_Z": "right_x_axis",
"ABS_RZ": "right_y_axis",
"ABS_RX": "right_x_axis",
"ABS_RY": "right_y_axis",
"BTN_BASE": "left_trigger",
"BTN_BASE2": "right_trigger",
"ABS_Z": "left_trigger",
"ABS_RZ": "right_trigger",
"BTN_BASE5": "left_stick",
"BTN_BASE6": "right_right",
"BTN_THUMBL": "left_stick",
"BTN_THUMBR": "right_right",
"BTN_TOP2": "left_bumper",
"BTN_PINKIE": "right_bumper",
"BTN_TL": "left_bumper",
"BTN_TR": "right_bumper",
"ABS_HAT0X": "d_pad_x",
"ABS_HAT0Y": "d_pad_y",
"BTN_BASE3": "back",
"BTN_BASE4": "start",
"BTN_SELECT": "back",
"BTN_START": "start",
"BTN_THUMB": "a",
"BTN_TRIGGER": "x",
"BTN_TOP": "y",
"BTN_THUMB2": "b",
"BTN_SOUTH": "a",
"BTN_NORTH": "x",
"BTN_WEST": "y",
"BTN_EAST": "b",
}
self.ready = False
@@ -148,7 +148,7 @@ class LogitechJoystick(QtCore.QThread):
#####################################
# Controller Class Definition
#####################################
class LogitechControllerControlSender(QtCore.QThread):
class DriveAndCameraControlSender(QtCore.QThread):
set_speed_limit__signal = QtCore.pyqtSignal(int)
set_left_drive_output__signal = QtCore.pyqtSignal(int)
set_right_drive_output__signal = QtCore.pyqtSignal(int)
@@ -158,7 +158,7 @@ class LogitechControllerControlSender(QtCore.QThread):
toggle_selected_gui_camera__signal = QtCore.pyqtSignal()
def __init__(self, shared_objects):
super(LogitechControllerControlSender, self).__init__()
super(DriveAndCameraControlSender, self).__init__()
# ########## Reference to class init variables ##########
self.shared_objects = shared_objects

10
software/ros_packages/ground_station/src/Framework/InputSystems/XBOXControllerControlSender.py → software/ros_packages/ground_station/src/Framework/ControlSystems/EffectorsAndArmControlSender.py
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@@ -159,7 +159,7 @@ class XBOXController(QtCore.QThread):
#####################################
# Controller Class Definition
#####################################
class XBOXControllerControlSender(QtCore.QThread):
class EffectorsAndArmControlSender(QtCore.QThread):
xbox_control_arm_stylesheet_update_ready__signal = QtCore.pyqtSignal(str)
xbox_control_mining_stylesheet_update_ready__signal = QtCore.pyqtSignal(str)
@@ -183,7 +183,7 @@ class XBOXControllerControlSender(QtCore.QThread):
PINCH_MODE_ABSOLUTE_SET_POSITION = 57740
def __init__(self, shared_objects):
super(XBOXControllerControlSender, self).__init__()
super(EffectorsAndArmControlSender, self).__init__()
# ########## Reference to class init variables ##########
self.shared_objects = shared_objects
@@ -390,7 +390,11 @@ class XBOXControllerControlSender(QtCore.QThread):
should_publish_gripper = True
arm_control_message.wrist_roll = ((left_x_axis / THUMB_STICK_MAX) * BASE_SCALAR) * right_trigger_ratio
arm_control_message.wrist_pitch = (-(left_y_axis / THUMB_STICK_MAX) * WRIST_PITCH_SCALAR) * right_trigger_ratio
# ##### FIXME #####
# Remove this once the arm is fixed
# arm_control_message.wrist_pitch = (-(left_y_axis / THUMB_STICK_MAX) * WRIST_PITCH_SCALAR) * right_trigger_ratio
# #################
gripper_control_message.gripper_position_relative = (-(right_y_axis / THUMB_STICK_MAX) * GRIPPER_MOVEMENT_SCALAR) * right_trigger_ratio

0
software/ros_packages/ground_station/src/Framework/InputSystems/SpaceNavControlSender.py → software/ros_packages/ground_station/src/Framework/ControlSystems/SpaceNavControlSender.py
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0
software/ros_packages/ground_station/src/Framework/InputSystems/__init__.py → software/ros_packages/ground_station/src/Framework/ControlSystems/__init__.py
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6
software/ros_packages/ground_station/src/Framework/MiscSystems/MiscArmCore.py
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@@ -67,6 +67,12 @@ class MiscArm(QtCore.QThread):
self.arm_controls_stow_arm_button = self.left_screen.arm_controls_stow_arm_button # type:QtWidgets.QPushButton
self.arm_controls_unstow_arm_button = self.left_screen.arm_controls_unstow_arm_button # type:QtWidgets.QPushButton
# ##### FIXME #####
# Remove these once the arm is fixed
self.arm_controls_stow_arm_button.setEnabled(False)
self.arm_controls_unstow_arm_button.setEnabled(False)
# #################
self.arm_controls_calibration_button = self.left_screen.arm_controls_calibration_button # type:QtWidgets.QPushButton
self.arm_controls_clear_faults_button = self.left_screen.arm_controls_clear_faults_button # type:QtWidgets.QPushButton
self.arm_controls_reset_motor_drivers_button = self.left_screen.arm_controls_reset_motor_drivers_button # type:QtWidgets.QPushButton

8
software/ros_packages/ground_station/src/ground_station.py
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@@ -15,8 +15,8 @@ import Framework.StartupSystems.ROSMasterChecker as ROSMasterChecker
import Framework.LoggingSystems.Logger as Logger
import Framework.VideoSystems.RoverVideoCoordinator as RoverVideoCoordinator
import Framework.MapSystems.RoverMapCoordinator as RoverMapCoordinator
import Framework.InputSystems.LogitechControllerControlSender as JoystickControlSender
import Framework.InputSystems.XBOXControllerControlSender as ControllerControlSender
import Framework.ControlSystems.DriveAndCameraControlSender as JoystickControlSender
import Framework.ControlSystems.EffectorsAndArmControlSender as ControllerControlSender
import Framework.NavigationSystems.SpeedAndHeadingIndication as SpeedAndHeading
import Framework.NavigationSystems.WaypointsCoordinator as WaypointsCoordinator
import Framework.ArmSystems.ArmIndication as ArmIndication
@@ -111,8 +111,8 @@ class GroundStation(QtCore.QObject):
# ##### Instantiate Threaded Classes ######
self.__add_thread("Video Coordinator", RoverVideoCoordinator.RoverVideoCoordinator(self.shared_objects))
self.__add_thread("Map Coordinator", RoverMapCoordinator.RoverMapCoordinator(self.shared_objects))
self.__add_thread("Joystick Sender", JoystickControlSender.LogitechControllerControlSender(self.shared_objects))
self.__add_thread("Controller Sender", ControllerControlSender.XBOXControllerControlSender(self.shared_objects))
self.__add_thread("Joystick Sender", JoystickControlSender.DriveAndCameraControlSender(self.shared_objects))
self.__add_thread("Controller Sender", ControllerControlSender.EffectorsAndArmControlSender(self.shared_objects))
self.__add_thread("Speed and Heading", SpeedAndHeading.SpeedAndHeadingIndication(self.shared_objects))
self.__add_thread("Rover Status", StatusCore.SensorCore(self.shared_objects))
self.__add_thread("Ubiquiti Status", UbiquitiStatusCore.UbiquitiStatus(self.shared_objects))

4
software/ros_packages/rover_main/launch/rover/control.launch
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@@ -39,7 +39,7 @@
<!--<param name="port" value="/dev/rover/ttyARM"/>-->
</node>
<node name="scale" pkg="rover_control" type="emergency_scale.py" respawn="true" output="screen">
</node>
<!--<node name="scale" pkg="rover_control" type="emergency_scale.py" respawn="true" output="screen">-->
<!--</node>-->
</group>
</launch>