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

software/ros_packages/ground_station/src/Framework/ControlSystems/DriveAndCameraControlSender.py

@@ -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_MAX = 32768.0
-STICK_OFFSET = 127
+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_x_axis": 0,
-            "left_y_axis": 127,
+            "left_y_axis": 0,
-            "right_x_axis": 127,
+            "right_x_axis": 0,
-            "right_y_axis": 127,
+            "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_RX": "right_x_axis",
-            "ABS_RZ": "right_y_axis",
+            "ABS_RY": "right_y_axis",
 
-            "BTN_BASE": "left_trigger",
+            "ABS_Z": "left_trigger",
-            "BTN_BASE2": "right_trigger",
+            "ABS_RZ": "right_trigger",
 
-            "BTN_BASE5": "left_stick",
+            "BTN_THUMBL": "left_stick",
-            "BTN_BASE6": "right_right",
+            "BTN_THUMBR": "right_right",
 
-            "BTN_TOP2": "left_bumper",
+            "BTN_TL": "left_bumper",
-            "BTN_PINKIE": "right_bumper",
+            "BTN_TR": "right_bumper",
 
             "ABS_HAT0X": "d_pad_x",
             "ABS_HAT0Y": "d_pad_y",
 
-            "BTN_BASE3": "back",
+            "BTN_SELECT": "back",
-            "BTN_BASE4": "start",
+            "BTN_START": "start",
 
-            "BTN_THUMB": "a",
+            "BTN_SOUTH": "a",
-            "BTN_TRIGGER": "x",
+            "BTN_NORTH": "x",
-            "BTN_TOP": "y",
+            "BTN_WEST": "y",
-            "BTN_THUMB2": "b",
+            "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

software/ros_packages/ground_station/src/Framework/ControlSystems/EffectorsAndArmControlSender.py

@@ -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
 

software/ros_packages/ground_station/src/Framework/MiscSystems/MiscArmCore.py

@@ -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

software/ros_packages/ground_station/src/ground_station.py

@@ -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.ControlSystems.DriveAndCameraControlSender as JoystickControlSender
-import Framework.InputSystems.XBOXControllerControlSender as ControllerControlSender
+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("Joystick Sender", JoystickControlSender.DriveAndCameraControlSender(self.shared_objects))
-        self.__add_thread("Controller Sender", ControllerControlSender.XBOXControllerControlSender(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))

software/ros_packages/rover_main/launch/rover/control.launch

@@ -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 name="scale" pkg="rover_control" type="emergency_scale.py" respawn="true" output="screen">-->
-        </node>
+        <!--</node>-->
     </group>
 </launch>