caperren/osurc_mars_rover_2017_2018
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Fixed some gui elements. Added pause / speed control to remote drive.

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This commit is contained in:
Corwin Perren
2018-03-01 17:14:34 -08:00
parent e29e88a81d
commit 6d9ed5d438
6 changed files with 772 additions and 98 deletions
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1
software/ros_packages/rover_control/src/control_coordinators/drive_coordinator.py
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@@ -117,7 +117,6 @@ class DriveCoordinator(object):
self.left_bogie_publisher.publish(left_drive)
self.right_bogie_publisher.publish(right_drive)
def iris_drive_command_callback(self, drive_command):
self.drive_commands["iris"] = drive_command
return

1
software/ros_packages/rover_control/src/iris_controller/iris_controller.py
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@@ -118,6 +118,7 @@ class IrisController(object):
def read_registers(self):
self.registers = self.iris.read_registers(0, len(MODBUS_REGISTERS))
# print self.registers
def broadcast_drive_if_current_mode(self):
if self.registers[MODBUS_REGISTERS[REGISTER_STATE_MAPPING["DRIVE_VS_ARM"]]] < SBUS_VALUES["SBUS_MID"]: