From 46809c3a39872be3edfe0db803ea68490971ee6b Mon Sep 17 00:00:00 2001 From: Corwin Perren Date: Mon, 26 Feb 2018 22:48:55 -0800 Subject: [PATCH] Inverted axes and set default values --- .../Framework/DriveSystems/RoverDriveSender.py | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/software/ground_station/Framework/DriveSystems/RoverDriveSender.py b/software/ground_station/Framework/DriveSystems/RoverDriveSender.py index b808713..347ff16 100644 --- a/software/ground_station/Framework/DriveSystems/RoverDriveSender.py +++ b/software/ground_station/Framework/DriveSystems/RoverDriveSender.py @@ -38,7 +38,7 @@ class LogitechJoystick(QtCore.QThread): self.controller_states = { "left_stick_x_axis": 0, - "y_axis": 0, + "y_axis": 512, "left_stick_center_pressed": 0, "right_stick_x_axis": 0, @@ -48,7 +48,7 @@ class LogitechJoystick(QtCore.QThread): "left_trigger_z_axis": 0, "left_bumper_pressed": 0, - "z_axis": 0, + "z_axis": 128, "right_bumper_pressed": 0, "dpad_x": 0, @@ -175,8 +175,8 @@ class RoverDriveSender(QtCore.QThread): def __update_and_publish(self): drive_message = DriveCommandMessage() - drive_message.drive_twist.linear.x = (self.joystick.controller_states["y_axis"] - 512) / 512.0 - drive_message.drive_twist.angular.z = (self.joystick.controller_states["z_axis"] - 128) / 128.0 + drive_message.drive_twist.linear.x = -(self.joystick.controller_states["y_axis"] - 512) / 512.0 + drive_message.drive_twist.angular.z = -(self.joystick.controller_states["z_axis"] - 128) / 128.0 self.drive_command_publisher.publish(drive_message) # print self.joystick.controller_states["y_axis"], self.joystick.controller_states["z_axis"]