From 3b8572a66555749ce561914e48fedba1d98e1c2b Mon Sep 17 00:00:00 2001 From: Corwin Perren Date: Mon, 26 Feb 2018 22:30:42 -0800 Subject: [PATCH] Printing axis data. --- .../Framework/DriveSystems/RoverDriveSender.py | 15 ++++++++++----- 1 file changed, 10 insertions(+), 5 deletions(-) diff --git a/software/ground_station/Framework/DriveSystems/RoverDriveSender.py b/software/ground_station/Framework/DriveSystems/RoverDriveSender.py index 6b44a2b..ef35676 100644 --- a/software/ground_station/Framework/DriveSystems/RoverDriveSender.py +++ b/software/ground_station/Framework/DriveSystems/RoverDriveSender.py @@ -17,6 +17,8 @@ GAME_CONTROLLER_NAME = "Logitech Logitech Extreme 3D Pro" DEFAULT_DRIVE_COMMAND_TOPIC = "command_control/groundstation_drive" +DRIVE_COMMAND_HERTZ = 15 + ##################################### # Controller Class Definition @@ -36,14 +38,14 @@ class LogitechJoystick(QtCore.QThread): self.controller_states = { "left_stick_x_axis": 0, - "left_stick_y_axis": 0, + "y_axis": 0, "left_stick_center_pressed": 0, "right_stick_x_axis": 0, "right_stick_y_axis": 0, "right_stick_center_pressed": 0, - "left_trigger_z_axis": 0, + "z_axis": 0, "left_bumper_pressed": 0, "right_trigger_z_axis": 0, @@ -64,14 +66,14 @@ class LogitechJoystick(QtCore.QThread): self.raw_mapping_to_class_mapping = { "ABS_X": "left_stick_x_axis", - "ABS_Y": "left_stick_y_axis", + "ABS_Y": "y_axis", "BTN_THUMBL": "left_stick_center_pressed", "ABS_RX": "right_stick_x_axis", "ABS_RY": "right_stick_y_axis", "BTN_THUMBR": "right_stick_center_pressed", - "ABS_Z": "left_trigger_z_axis", + "ABS_Z": "z_axis", "BTN_TL": "left_bumper_pressed", "ABS_RZ": "right_trigger_z_axis", @@ -104,6 +106,7 @@ class LogitechJoystick(QtCore.QThread): def __setup_controller(self): for device in devices.gamepads: + print device if device.name == GAME_CONTROLLER_NAME: self.gamepad = device @@ -152,6 +155,8 @@ class RoverDriveSender(QtCore.QThread): # Publishers self.drive_command_publisher = rospy.Publisher(DEFAULT_DRIVE_COMMAND_TOPIC, DriveCommandMessage, queue_size=1) + self.wait_time = 1 / DRIVE_COMMAND_HERTZ + def run(self): while self.run_thread_flag: @@ -169,7 +174,7 @@ class RoverDriveSender(QtCore.QThread): def __update_and_publish(self): # axis = self.joystick.controller_states["left_stick_y_axis"] - print self.joystick.controller_states + 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): start_signal.connect(self.start)