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Added sending drive commands via ROS topic

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Corwin Perren
2018-02-26 22:44:14 -08:00
parent 3b8572a665
commit 8861cd20ca
1 changed files with 11 additions and 7 deletions
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18
software/ground_station/Framework/DriveSystems/RoverDriveSender.py
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@@ -36,7 +36,7 @@ class LogitechJoystick(QtCore.QThread):
# ########## Class Variables ########## # ########## Class Variables ##########
self.gamepad = None # type: GamePad self.gamepad = None # type: GamePad
self.controller_states = { elf.controller_states = {
"left_stick_x_axis": 0, "left_stick_x_axis": 0,
"y_axis": 0, "y_axis": 0,
"left_stick_center_pressed": 0, "left_stick_center_pressed": 0,
@@ -45,10 +45,10 @@ class LogitechJoystick(QtCore.QThread):
"right_stick_y_axis": 0, "right_stick_y_axis": 0,
"right_stick_center_pressed": 0, "right_stick_center_pressed": 0,
"z_axis": 0, "left_trigger_z_axis": 0,
"left_bumper_pressed": 0, "left_bumper_pressed": 0,
"right_trigger_z_axis": 0, "z_axis": 0,
"right_bumper_pressed": 0, "right_bumper_pressed": 0,
"dpad_x": 0, "dpad_x": 0,
@@ -73,10 +73,10 @@ class LogitechJoystick(QtCore.QThread):
"ABS_RY": "right_stick_y_axis", "ABS_RY": "right_stick_y_axis",
"BTN_THUMBR": "right_stick_center_pressed", "BTN_THUMBR": "right_stick_center_pressed",
"ABS_Z": "z_axis", "ABS_Z": "left_trigger_z_axis",
"BTN_TL": "left_bumper_pressed", "BTN_TL": "left_bumper_pressed",
"ABS_RZ": "right_trigger_z_axis", "ABS_RZ": "z_axis",
"BTN_TR": "right_bumper_pressed", "BTN_TR": "right_bumper_pressed",
"ABS_HAT0X": "dpad_x", "ABS_HAT0X": "dpad_x",
@@ -91,6 +91,7 @@ class LogitechJoystick(QtCore.QThread):
"BTN_NORTH": "x_pressed", "BTN_NORTH": "x_pressed",
"BTN_WEST": "y_pressed" "BTN_WEST": "y_pressed"
} }
self.ready = False self.ready = False
self.start() self.start()
@@ -172,9 +173,12 @@ class RoverDriveSender(QtCore.QThread):
pass pass
def __update_and_publish(self): def __update_and_publish(self):
drive_message = DriveCommandMessage()
# axis = self.joystick.controller_states["left_stick_y_axis"] drive_message.drive_twist.linear.x = (self.joystick.controller_states["y_axis"] - 512) / 512
print self.joystick.controller_states["y_axis"], self.joystick.controller_states["z_axis"] drive_message.drive_twist.angular.z = (self.joystick.controller_states["z_axis"] - 128) / 128
self.drive_command_publisher.publish(drive_message)
# print self.joystick.controller_states["y_axis"], self.joystick.controller_states["z_axis"]
def setup_signals(self, start_signal, signals_and_slots_signal, kill_signal): def setup_signals(self, start_signal, signals_and_slots_signal, kill_signal):
start_signal.connect(self.start) start_signal.connect(self.start)