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Inverted axes and set default values

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Corwin Perren
2018-02-26 22:48:55 -08:00
parent 91780ffed1
commit 46809c3a39
1 changed files with 4 additions and 4 deletions
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8
software/ground_station/Framework/DriveSystems/RoverDriveSender.py
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@@ -38,7 +38,7 @@ class LogitechJoystick(QtCore.QThread):
self.controller_states = { self.controller_states = {
"left_stick_x_axis": 0, "left_stick_x_axis": 0,
"y_axis": 0, "y_axis": 512,
"left_stick_center_pressed": 0, "left_stick_center_pressed": 0,
"right_stick_x_axis": 0, "right_stick_x_axis": 0,
@@ -48,7 +48,7 @@ class LogitechJoystick(QtCore.QThread):
"left_trigger_z_axis": 0, "left_trigger_z_axis": 0,
"left_bumper_pressed": 0, "left_bumper_pressed": 0,
"z_axis": 0, "z_axis": 128,
"right_bumper_pressed": 0, "right_bumper_pressed": 0,
"dpad_x": 0, "dpad_x": 0,
@@ -175,8 +175,8 @@ class RoverDriveSender(QtCore.QThread):
def __update_and_publish(self): def __update_and_publish(self):
drive_message = DriveCommandMessage() drive_message = DriveCommandMessage()
drive_message.drive_twist.linear.x = (self.joystick.controller_states["y_axis"] - 512) / 512.0 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 drive_message.drive_twist.angular.z = -(self.joystick.controller_states["z_axis"] - 128) / 128.0
self.drive_command_publisher.publish(drive_message) self.drive_command_publisher.publish(drive_message)
# print self.joystick.controller_states["y_axis"], self.joystick.controller_states["z_axis"] # print self.joystick.controller_states["y_axis"], self.joystick.controller_states["z_axis"]