caperren/osurc_mars_rover_2017_2018
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Added non-final versions of iris and tower firmware.

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Corwin Perren
2018-02-20 15:45:21 -08:00
parent 31a07e82f8
commit 6bb3539488
171 changed files with 36168 additions and 13 deletions
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21
software/fragments/joystick_drive_test.py
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@@ -11,7 +11,6 @@ import logging
from inputs import devices, GamePad
import sys
import time
import pygame
import rospy
from rover_drive.msg import RoverMotorDrive
@@ -21,7 +20,7 @@ from rover_drive.msg import RoverMotorDrive
# Global Variables
#####################################
GAME_CONTROLLER_NAME = "Logitech Logitech Extreme 3D Pro"
CONTROLLER_DATA_UPDATE_FREQUENCY = 50 # Times per second
CONTROLLER_DATA_UPDATE_FREQUENCY = 100 # Times per second
#####################################
@@ -122,8 +121,7 @@ class LogitechJoystick(QtCore.QThread):
self.setup_controller_flag = False
if self.data_acquisition_and_broadcast_flag:
self.__get_controller_data()
self.__broadcast_if_ready()
self.__broadcast_if_ready()
# self.msleep(100)
@@ -152,14 +150,19 @@ class LogitechJoystick(QtCore.QThread):
def __broadcast_if_ready(self):
drive = RoverMotorDrive()
current_time = time.time()
axis = self.controller_states["left_stick_y_axis"]
if (current_time - self.last_time) > (1 / CONTROLLER_DATA_UPDATE_FREQUENCY):
drive = RoverMotorDrive()
drive.first_motor_direction = 1 if axis <= 512 else 0
drive.first_motor_speed = min(abs(self.controller_states["left_stick_y_axis"] - 512) * 128, 65535)
axis = self.controller_states["left_stick_y_axis"]
drive.first_motor_direction = 1 if axis <= 512 else 0
drive.first_motor_speed = min(abs(self.controller_states["left_stick_y_axis"] - 512) * 128, 65535)
self.pub.publish(drive)
self.last_time = current_time
self.pub.publish(drive)
def on_kill_threads__slot(self):