Control changes. Joystick and spacenav sucked. Switched to regular controllers. Added readout for xbox controller mode.

2025-11-08 10:11:14 +00:00 · 2018-08-06 20:13:50 -07:00
parent e688aff233
commit 5e65f9dfdd
6 changed files with 328 additions and 103 deletions
--- a/software/ros_packages/ground_station/src/Framework/InputSystems/LogitechControllerControlSender.py
+++ b/software/ros_packages/ground_station/src/Framework/InputSystems/LogitechControllerControlSender.py
@@ -13,7 +13,7 @@ from rover_control.msg import DriveCommandMessage, TowerPanTiltControlMessage
 #####################################
 # Global Variables
 #####################################
-GAME_CONTROLLER_NAME = "Logitech Logitech Extreme 3D Pro"
+GAME_CONTROLLER_NAME = "Logitech Logitech Dual Action"

 DEFAULT_DRIVE_COMMAND_TOPIC = "/rover_control/command_control/ground_station_drive"
 DEFAULT_TOWER_PAN_TILT_COMMAND_TOPIC = "/rover_control/tower/pan_tilt/control"
@@ -21,8 +21,10 @@ DEFAULT_CHASSIS_PAN_TILT_COMMAND_TOPIC = "/rover_control/chassis/pan_tilt/contro

 DRIVE_COMMAND_HERTZ = 20

-Y_AXIS_DEADBAND = 0.05
-X_AXIS_DEADBAND = 0.05
+STICK_DEADBAND = 8
+
+STICK_MAX = 128.0
+STICK_OFFSET = 127

 THROTTLE_MIN = 0.05

@@ -56,51 +58,57 @@ class LogitechJoystick(QtCore.QThread):
        self.gamepad = None  # type: GamePad

        self.controller_states = {
-            "x_axis": 512,
-            "y_axis": 512,
-            "z_axis": 128,
-            "throttle_axis": 128,
+            "left_x_axis": 127,
+            "left_y_axis": 127,
+            "right_x_axis": 127,
+            "right_y_axis": 127,

-            "hat_x_axis": 0,
-            "hat_y_axis": 0,
+            "left_trigger": 0,
+            "right_trigger": 0,

-            "trigger_pressed": 0,
-            "thumb_pressed": 0,
-            "three_pressed": 0,
-            "four_pressed": 0,
-            "five_pressed": 0,
-            "six_pressed": 0,
+            "left_stick": 0,
+            "right_right": 0,

-            "seven_pressed": 0,
-            "eight_pressed": 0,
-            "nine_pressed": 0,
-            "ten_pressed": 0,
-            "eleven_pressed": 0,
-            "twelve_pressed": 0,
+            "left_bumper": 0,
+            "right_bumper": 0,
+
+            "d_pad_x": 0,
+            "d_pad_y": 0,
+
+            "back": 0,
+            "start": 0,
+
+            "a": 0,
+            "x": 0,
+            "y": 0,
+            "b": 0,
        }

        self.raw_mapping_to_class_mapping = {
-            "ABS_X": "x_axis",
-            "ABS_Y": "y_axis",
-            "ABS_RZ": "z_axis",
-            "ABS_THROTTLE": "throttle_axis",
+            "ABS_X": "left_x_axis",
+            "ABS_Y": "left_y_axis",
+            "ABS_Z": "right_x_axis",
+            "ABS_RZ": "right_y_axis",

-            "ABS_HAT0X": "hat_x_axis",
-            "ABS_HAT0Y": "hat_y_axis",
+            "BTN_BASE": "left_trigger",
+            "BTN_BASE2": "right_trigger",

-            "BTN_TRIGGER": "trigger_pressed",
-            "BTN_THUMB": "thumb_pressed",
-            "BTN_THUMB2": "three_pressed",
-            "BTN_TOP": "four_pressed",
-            "BTN_TOP2": "five_pressed",
-            "BTN_PINKIE": "six_pressed",
+            "BTN_BASE5": "left_stick",
+            "BTN_BASE6": "right_right",

-            "BTN_BASE": "seven_pressed",
-            "BTN_BASE2": "eight_pressed",
-            "BTN_BASE3": "nine_pressed",
-            "BTN_BASE4": "ten_pressed",
-            "BTN_BASE5": "eleven_pressed",
-            "BTN_BASE6": "twelve_pressed"
+            "BTN_TOP2": "left_bumper",
+            "BTN_PINKIE": "right_bumper",
+
+            "ABS_HAT0X": "d_pad_x",
+            "ABS_HAT0Y": "d_pad_y",
+
+            "BTN_BASE3": "back",
+            "BTN_BASE4": "start",
+
+            "BTN_THUMB": "a",
+            "BTN_TRIGGER": "x",
+            "BTN_TOP": "y",
+            "BTN_THUMB2": "b",
        }

        self.ready = False
@@ -118,6 +126,7 @@ class LogitechJoystick(QtCore.QThread):

    def __setup_controller(self):
        for device in devices.gamepads:
+            # print device
            if device.name == GAME_CONTROLLER_NAME:
                self.gamepad = device

@@ -129,7 +138,7 @@ class LogitechJoystick(QtCore.QThread):
            events = self.gamepad.read()

            for event in events:
-                # print event.code
+                print event.code, event.state
                if event.code in self.raw_mapping_to_class_mapping:
                    self.controller_states[self.raw_mapping_to_class_mapping[event.code]] = event.state

@@ -139,7 +148,7 @@ class LogitechJoystick(QtCore.QThread):
 #####################################
 # Controller Class Definition
 #####################################
-class JoystickControlSender(QtCore.QThread):
+class LogitechControllerControlSender(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)
@@ -149,7 +158,7 @@ class JoystickControlSender(QtCore.QThread):
    toggle_selected_gui_camera__signal = QtCore.pyqtSignal()

    def __init__(self, shared_objects):
-        super(JoystickControlSender, self).__init__()
+        super(LogitechControllerControlSender, self).__init__()

        # ########## Reference to class init variables ##########
        self.shared_objects = shared_objects
@@ -215,7 +224,7 @@ class JoystickControlSender(QtCore.QThread):
        self.video_coordinator.pan_tilt_selection_changed__signal.connect(self.on_pan_tilt_selection_changed__slot)

    def check_and_set_pause_state(self):
-        thumb_pressed = self.joystick.controller_states["thumb_pressed"]
+        thumb_pressed = self.joystick.controller_states["start"]
        if thumb_pressed and (time() - self.last_pause_state_time) > PAUSE_STATE_CHANGE_TIME:
            self.drive_paused = not self.drive_paused
            self.show_changed_pause_state()
@@ -227,7 +236,8 @@ class JoystickControlSender(QtCore.QThread):
        self.publish_pan_tilt_control_commands()

    def publish_drive_command(self):
-        throttle_axis = max((255 - self.joystick.controller_states["throttle_axis"]) / 255.0, THROTTLE_MIN)
+        throttle_axis = 1
+        # throttle_axis = max((255 - self.joystick.controller_states["throttle_axis"]) / 255.0, THROTTLE_MIN)

        if self.drive_paused:
            drive_message = DriveCommandMessage()
@@ -244,11 +254,11 @@ class JoystickControlSender(QtCore.QThread):
        self.drive_command_publisher.publish(drive_message)

    def publish_camera_control_commands(self):
-        trigger_pressed = self.joystick.controller_states["trigger_pressed"]
-        three_pressed = self.joystick.controller_states["three_pressed"]
-        four_pressed = self.joystick.controller_states["four_pressed"]
-        five_pressed = self.joystick.controller_states["five_pressed"]
-        six_pressed = self.joystick.controller_states["six_pressed"]
+        trigger_pressed = self.joystick.controller_states["y"]
+        three_pressed = self.joystick.controller_states["left_bumper"]
+        four_pressed = self.joystick.controller_states["right_bumper"]
+        five_pressed = self.joystick.controller_states["left_trigger"]
+        six_pressed = self.joystick.controller_states["right_trigger"]

        if (five_pressed or six_pressed) and (time() - self.last_camera_change_time) > CAMERA_CHANGE_TIME:
            change = -1 if five_pressed else 1
@@ -265,9 +275,9 @@ class JoystickControlSender(QtCore.QThread):
            self.last_camera_toggle_time = time()

    def publish_pan_tilt_control_commands(self):
-        button_eight = self.joystick.controller_states["seven_pressed"]
-        hat_x = self.joystick.controller_states["hat_x_axis"]
-        hat_y = self.joystick.controller_states["hat_y_axis"]
+        button_eight = self.joystick.controller_states["a"]
+        hat_x = self.joystick.controller_states["d_pad_x"]
+        hat_y = self.joystick.controller_states["d_pad_y"]

        if (hat_x == 0 and not self.last_hat_x_was_movement) and (
                hat_y == 0 and not self.last_hat_y_was_movement) and not button_eight:
@@ -294,20 +304,14 @@ class JoystickControlSender(QtCore.QThread):
    def get_drive_message(self, throttle_axis):
        drive_message = DriveCommandMessage()

-        y_axis = throttle_axis * (-(self.joystick.controller_states["y_axis"] - 512) / 512.0)
-        z_axis = throttle_axis * (-(self.joystick.controller_states["z_axis"] - 128) / 128.0)
-        x_axis = throttle_axis * (-(self.joystick.controller_states["x_axis"] - 512) / 512.0)
+        left_y_axis = self.joystick.controller_states["left_y_axis"] if abs(self.joystick.controller_states["left_y_axis"]) > STICK_DEADBAND else 0
+        right_y_axis = self.joystick.controller_states["right_y_axis"] if abs(self.joystick.controller_states["right_y_axis"]) > STICK_DEADBAND else 0

-        if abs(y_axis) < Y_AXIS_DEADBAND:
-            y_axis = 0
+        left_y_axis = throttle_axis * (-(left_y_axis - STICK_OFFSET) / STICK_MAX)
+        right_y_axis = throttle_axis * (-(right_y_axis - STICK_OFFSET) / STICK_MAX)

-        if abs(x_axis) < X_AXIS_DEADBAND and y_axis == 0:
-            twist = z_axis
-        else:
-            twist = x_axis if y_axis >= 0 else -x_axis
-
-        drive_message.drive_twist.linear.x = y_axis
-        drive_message.drive_twist.angular.z = twist
+        drive_message.drive_twist.linear.x = (left_y_axis + right_y_axis) / 2.0
+        drive_message.drive_twist.angular.z = (right_y_axis - left_y_axis) / 2.0

        return drive_message

--- a/software/ros_packages/ground_station/src/Framework/InputSystems/SpaceNavControlSender.py
+++ b/software/ros_packages/ground_station/src/Framework/InputSystems/SpaceNavControlSender.py
@@ -160,20 +160,7 @@ class SpaceNavControlSender(QtCore.QThread):
        elif self.current_control_mode == self.ARM_MODE:
            pass

-    def send_mining_commands(self):
-        linear_z = self.spnav_states["linear_z"]
-        angular_y = self.spnav_states["angular_y"]

-        message = MiningControlMessage()
-
-        message.lift_set_absolute = 1024
-        message.tilt_set_absolute = 1024
-
-        message.lift_set_relative = linear_z * MINING_LIFT_SCALAR if abs(linear_z) > Z_LINEAR_DEADBAND else 0
-        message.tilt_set_relative = angular_y * MINING_TILT_SCALAR if abs(angular_y) > Y_ANGULAR_DEADBAND else 0
-        message.cal_factor = -1
-
-        self.mining_control_publisher.publish(message)
        # print self.spnav_states["linear_z"], self.spnav_states["angular_y"]

    def connect_signals_and_slots(self):
--- a/software/ros_packages/ground_station/src/Framework/InputSystems/XBOXControllerControlSender.py
+++ b/software/ros_packages/ground_station/src/Framework/InputSystems/XBOXControllerControlSender.py
@@ -9,6 +9,7 @@ from time import time

 import rospy
 from rover_arm.msg import ArmControlMessage
+from rover_control.msg import MiningControlMessage

 #####################################
 # Global Variables
@@ -18,6 +19,7 @@ GAME_CONTROLLER_NAME = "Afterglow Gamepad for Xbox 360"
 DRIVE_COMMAND_HERTZ = 20

 RELATIVE_ARM_CONTROL_TOPIC = "/rover_arm/control/relative"
+MINING_CONTROL_TOPIC = "/rover_control/mining/control"

 BASE_SCALAR = 0.003
 SHOULDER_SCALAR = 0.002
@@ -32,6 +34,15 @@ LEFT_Y_AXIS_DEADZONE = 1500
 RIGHT_X_AXIS_DEADZONE = 1500
 RIGHT_Y_AXIS_DEADZONE = 1500

+THUMB_STICK_MAX = 32768.0
+
+MINING_LIFT_SCALAR = 5
+MINING_TILT_SCALAR = 5
+
+
+COLOR_GREEN = "background-color:darkgreen; border: 1px solid black;"
+COLOR_NONE = "border: 1px solid black;"
+

 #####################################
 # Controller Class Definition
@@ -120,7 +131,7 @@ class XBOXController(QtCore.QThread):

    def __setup_controller(self):
        for device in devices.gamepads:
-            print device
+            # print device
            if device.name == GAME_CONTROLLER_NAME:
                self.gamepad = device

@@ -146,15 +157,23 @@ class XBOXController(QtCore.QThread):
 #####################################
 # Controller Class Definition
 #####################################
-class ControllerControlSender(QtCore.QThread):
+class XBOXControllerControlSender(QtCore.QThread):
+    STATES = [
+        "ARM",
+        "MINING"
+    ]
+
+    xbox_control_arm_stylesheet_update_ready__signal = QtCore.pyqtSignal(str)
+    xbox_control_mining_stylesheet_update_ready__signal = QtCore.pyqtSignal(str)

    def __init__(self, shared_objects):
-        super(ControllerControlSender, self).__init__()
+        super(XBOXControllerControlSender, self).__init__()

        # ########## Reference to class init variables ##########
        self.shared_objects = shared_objects
-        self.video_coordinator = self.shared_objects["threaded_classes"]["Video Coordinator"]
-        self.right_screen = self.shared_objects["screens"]["right_screen"]
+        self.left_screen = self.shared_objects["screens"]["left_screen"]
+        self.xbox_mode_arm_label = self.left_screen.xbox_mode_arm_label  # type: QtWidgets.QLabel
+        self.xbox_mode_mining_label = self.left_screen.xbox_mode_mining_label  # type: QtWidgets.QLabel

        # ########## Get the settings instance ##########
        self.settings = QtCore.QSettings()
@@ -173,6 +192,12 @@ class ControllerControlSender(QtCore.QThread):

        self.relative_arm_control_publisher = rospy.Publisher(RELATIVE_ARM_CONTROL_TOPIC, ArmControlMessage,
                                                              queue_size=1)
+        self.mining_control_publisher = rospy.Publisher(MINING_CONTROL_TOPIC, MiningControlMessage, queue_size=1)
+
+        self.current_state = self.STATES.index("ARM")
+        self.state_just_changed = False
+
+        self.last_xbox_button_state = 0

    def run(self):
        self.logger.debug("Starting Joystick Thread")
@@ -180,7 +205,12 @@ class ControllerControlSender(QtCore.QThread):
        while self.run_thread_flag:
            start_time = time()

+            self.change_control_state_if_needed()
+
+            if self.current_state == self.STATES.index("ARM"):
                self.process_and_send_arm_control()
+            elif self.current_state == self.STATES.index("MINING"):
+                self.send_mining_commands()

            time_diff = time() - start_time

@@ -189,9 +219,32 @@ class ControllerControlSender(QtCore.QThread):
        self.logger.debug("Stopping Joystick Thread")

    def connect_signals_and_slots(self):
-        pass
+        self.xbox_control_arm_stylesheet_update_ready__signal.connect(self.xbox_mode_arm_label.setStyleSheet)
+        self.xbox_control_mining_stylesheet_update_ready__signal.connect(self.xbox_mode_mining_label.setStyleSheet)
+
+    def change_control_state_if_needed(self):
+        if self.state_just_changed:
+            self.xbox_control_arm_stylesheet_update_ready__signal.emit(COLOR_NONE)
+            self.xbox_control_mining_stylesheet_update_ready__signal.emit(COLOR_GREEN)
+            self.state_just_changed = False
+
+        xbox_state = self.controller.controller_states["xbox_button"]
+
+        if self.last_xbox_button_state == 0 and xbox_state == 1:
+            self.current_state += 1
+            self.current_state = self.current_state % len(self.STATES)
+            self.state_just_changed = True
+            self.last_xbox_button_state = 1
+
+        elif self.last_xbox_button_state == 1 and xbox_state == 0:
+            self.last_xbox_button_state = 0

    def process_and_send_arm_control(self):
+        if self.state_just_changed:
+            self.xbox_control_arm_stylesheet_update_ready__signal.emit(COLOR_GREEN)
+            self.xbox_control_mining_stylesheet_update_ready__signal.emit(COLOR_NONE)
+            self.state_just_changed = False
+
        message = ArmControlMessage()

        should_publish = False
@@ -215,19 +268,38 @@ class ControllerControlSender(QtCore.QThread):

        if left_trigger > 25:
            should_publish = True
-            message.base = ((left_x_axis / 32768.0) * BASE_SCALAR) * left_trigger_ratio
-            message.shoulder = (-(left_y_axis / 32768.0) * SHOULDER_SCALAR) * left_trigger_ratio
-            message.elbow = ((right_y_axis / 32768.0) * ELBOW_SCALAR) * left_trigger_ratio
-            message.roll = (-(right_x_axis / 32768.0) * ROLL_SCALAR) * left_trigger_ratio
+            message.base = ((left_x_axis / THUMB_STICK_MAX) * BASE_SCALAR) * left_trigger_ratio
+            message.shoulder = ((left_y_axis / THUMB_STICK_MAX) * SHOULDER_SCALAR) * left_trigger_ratio
+            message.elbow = (-(right_y_axis / THUMB_STICK_MAX) * ELBOW_SCALAR) * left_trigger_ratio
+            message.roll = (-(right_x_axis / THUMB_STICK_MAX) * ROLL_SCALAR) * left_trigger_ratio

        elif right_trigger > 25:
            should_publish = True
-            message.wrist_roll = ((right_x_axis / 32768.0) * WRIST_ROLL_SCALAR) * right_trigger_ratio
-            message.wrist_pitch = ((left_y_axis / 32768.0) * WRIST_PITCH_SCALAR) * right_trigger_ratio
+            message.wrist_roll = ((right_x_axis / THUMB_STICK_MAX) * WRIST_ROLL_SCALAR) * right_trigger_ratio
+            message.wrist_pitch = (-(left_y_axis / THUMB_STICK_MAX) * WRIST_PITCH_SCALAR) * right_trigger_ratio

        if should_publish:
            self.relative_arm_control_publisher.publish(message)

+    def send_mining_commands(self):
+
+        left_y_axis = self.controller.controller_states["left_y_axis"] if abs(self.controller.controller_states["left_y_axis"]) > LEFT_Y_AXIS_DEADZONE else 0
+        right_y_axis = self.controller.controller_states["right_y_axis"] if abs(self.controller.controller_states[
+                                                        "right_y_axis"]) > RIGHT_Y_AXIS_DEADZONE else 0
+
+        if left_y_axis or right_y_axis:
+
+            message = MiningControlMessage()
+
+            message.lift_set_absolute = 1024
+            message.tilt_set_absolute = 1024
+
+            message.lift_set_relative = (-(left_y_axis / THUMB_STICK_MAX) * MINING_LIFT_SCALAR)
+            message.tilt_set_relative = ((right_y_axis / THUMB_STICK_MAX) * MINING_TILT_SCALAR)
+            message.cal_factor = -1
+
+            self.mining_control_publisher.publish(message)
+
    def setup_signals(self, start_signal, signals_and_slots_signal, kill_signal):
        start_signal.connect(self.start)
        signals_and_slots_signal.connect(self.connect_signals_and_slots)
--- a/software/ros_packages/ground_station/src/Resources/Ui/left_screen.ui
+++ b/software/ros_packages/ground_station/src/Resources/Ui/left_screen.ui
@@ -2574,13 +2574,13 @@ N/A</string>
          </property>
          <property name="minimumSize">
           <size>
-            <width>640</width>
+            <width>470</width>
            <height>360</height>
           </size>
          </property>
          <property name="maximumSize">
           <size>
-            <width>640</width>
+            <width>470</width>
            <height>360</height>
           </size>
          </property>
@@ -3170,6 +3170,170 @@ N/A</string>
          </layout>
         </widget>
        </item>
+        <item>
+         <spacer name="horizontalSpacer_16">
+          <property name="orientation">
+           <enum>Qt::Horizontal</enum>
+          </property>
+          <property name="sizeHint" stdset="0">
+           <size>
+            <width>40</width>
+            <height>20</height>
+           </size>
+          </property>
+         </spacer>
+        </item>
+        <item>
+         <widget class="Line" name="line_9">
+          <property name="orientation">
+           <enum>Qt::Vertical</enum>
+          </property>
+         </widget>
+        </item>
+        <item>
+         <spacer name="horizontalSpacer_17">
+          <property name="orientation">
+           <enum>Qt::Horizontal</enum>
+          </property>
+          <property name="sizeHint" stdset="0">
+           <size>
+            <width>40</width>
+            <height>20</height>
+           </size>
+          </property>
+         </spacer>
+        </item>
+        <item>
+         <layout class="QVBoxLayout" name="verticalLayout_18">
+          <property name="spacing">
+           <number>6</number>
+          </property>
+          <item>
+           <widget class="QLabel" name="label_34">
+            <property name="font">
+             <font>
+              <pointsize>12</pointsize>
+              <weight>75</weight>
+              <bold>true</bold>
+             </font>
+            </property>
+            <property name="text">
+             <string>Xbox Mode</string>
+            </property>
+           </widget>
+          </item>
+          <item>
+           <layout class="QHBoxLayout" name="horizontalLayout_16">
+            <property name="spacing">
+             <number>0</number>
+            </property>
+            <item>
+             <widget class="QLabel" name="xbox_mode_arm_label">
+              <property name="minimumSize">
+               <size>
+                <width>120</width>
+                <height>120</height>
+               </size>
+              </property>
+              <property name="maximumSize">
+               <size>
+                <width>120</width>
+                <height>120</height>
+               </size>
+              </property>
+              <property name="styleSheet">
+               <string notr="true">background-color:darkgreen; border: 1px solid black;</string>
+              </property>
+              <property name="text">
+               <string>Arm</string>
+              </property>
+              <property name="alignment">
+               <set>Qt::AlignCenter</set>
+              </property>
+             </widget>
+            </item>
+           </layout>
+          </item>
+          <item>
+           <layout class="QHBoxLayout" name="horizontalLayout_17">
+            <property name="spacing">
+             <number>0</number>
+            </property>
+            <item>
+             <widget class="QLabel" name="xbox_mode_mining_label">
+              <property name="minimumSize">
+               <size>
+                <width>120</width>
+                <height>120</height>
+               </size>
+              </property>
+              <property name="maximumSize">
+               <size>
+                <width>120</width>
+                <height>120</height>
+               </size>
+              </property>
+              <property name="styleSheet">
+               <string notr="true">border: 1px solid black;</string>
+              </property>
+              <property name="text">
+               <string>Mining</string>
+              </property>
+              <property name="alignment">
+               <set>Qt::AlignCenter</set>
+              </property>
+             </widget>
+            </item>
+           </layout>
+          </item>
+          <item>
+           <spacer name="verticalSpacer_7">
+            <property name="orientation">
+             <enum>Qt::Vertical</enum>
+            </property>
+            <property name="sizeHint" stdset="0">
+             <size>
+              <width>20</width>
+              <height>40</height>
+             </size>
+            </property>
+           </spacer>
+          </item>
+         </layout>
+        </item>
+        <item>
+         <spacer name="horizontalSpacer_18">
+          <property name="orientation">
+           <enum>Qt::Horizontal</enum>
+          </property>
+          <property name="sizeHint" stdset="0">
+           <size>
+            <width>40</width>
+            <height>20</height>
+           </size>
+          </property>
+         </spacer>
+        </item>
+        <item>
+         <widget class="Line" name="line_10">
+          <property name="orientation">
+           <enum>Qt::Vertical</enum>
+          </property>
+         </widget>
+        </item>
+        <item>
+         <spacer name="horizontalSpacer_15">
+          <property name="orientation">
+           <enum>Qt::Horizontal</enum>
+          </property>
+          <property name="sizeHint" stdset="0">
+           <size>
+            <width>40</width>
+            <height>20</height>
+           </size>
+          </property>
+         </spacer>
+        </item>
        <item>
         <widget class="QWidget" name="widget_3" native="true">
          <property name="sizePolicy">
--- a/software/ros_packages/ground_station/src/ground_station.py
+++ b/software/ros_packages/ground_station/src/ground_station.py
@@ -15,15 +15,14 @@ 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.JoystickControlSender as JoystickControlSender
-import Framework.InputSystems.ControllerControlSender as ControllerControlSender
+import Framework.InputSystems.LogitechControllerControlSender as JoystickControlSender
+import Framework.InputSystems.XBOXControllerControlSender as ControllerControlSender
 import Framework.NavigationSystems.SpeedAndHeadingIndication as SpeedAndHeading
 import Framework.NavigationSystems.WaypointsCoordinator as WaypointsCoordinator
 import Framework.ArmSystems.ArmIndication as ArmIndication
 import Framework.StatusSystems.StatusCore as StatusCore
 import Framework.StatusSystems.UbiquitiStatusCore as UbiquitiStatusCore
 import Framework.SettingsSystems.UbiquitiRadioSettings as UbiquitiRadioSettings
-import Framework.InputSystems.SpaceNavControlSender as SpaceNavControlSender
 import Framework.MiscSystems.MiningCore as MiningCore
 import Framework.MiscSystems.BashConsoleCore as BashConsoleCore
 import Framework.MiscSystems.MiscArmCore as MiscArmCore
@@ -112,14 +111,13 @@ 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.JoystickControlSender(self.shared_objects))
-        self.__add_thread("Controller Sender", ControllerControlSender.ControllerControlSender(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("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))
        self.__add_thread("Ubiquiti Radio Settings", UbiquitiRadioSettings.UbiquitiRadioSettings(self.shared_objects))
        self.__add_thread("Waypoints Coordinator", WaypointsCoordinator.WaypointsCoordinator(self.shared_objects))
-        self.__add_thread("Spacenav Sender", SpaceNavControlSender.SpaceNavControlSender(self.shared_objects))
        self.__add_thread("Bash Console", BashConsoleCore.BashConsole(self.shared_objects))
        self.__add_thread("Misc Arm", MiscArmCore.MiscArm(self.shared_objects))
        self.__add_thread("RDF", RDFCore.RDF(self.shared_objects))
--- a/software/ros_packages/rover_main/launch/ground_station/topic_transport_senders.launch
+++ b/software/ros_packages/rover_main/launch/ground_station/topic_transport_senders.launch
@@ -9,7 +9,7 @@
                [{name: "/rover_control/command_control/ground_station_drive", compress: true, rate: 15.0},
                {name: "/rover_control/tower/pan_tilt/control", compress: true, rate: 30.0},
                {name: "/rover_control/chassis/pan_tilt/control", compress: true, rate: 30.0},
-                {name: "/rover_control/mining/control", compress: true, rate: 15.0},
+                {name: "/rover_control/mining/control", compress: true, rate: 30.0},
                {name: "/rover_arm/control/relative", compress: true, rate: 30.0}]
            </rosparam>
        </node>