caperren/osurc_mars_rover_2017_2018
1
0
Fork 0
mirror of https://github.com/OSURoboticsClub/Rover_2017_2018.git synced 2025-11-08 18:21:15 +00:00
Code Issues Packages Projects Releases Wiki Activity

Merge branch 'master' of https://github.com/OSURoboticsClub/Rover_2017_2018

Browse Source
This commit is contained in:
Corwin Perren
2018-02-26 22:31:09 -08:00
parent 20dc332c06 3b8572a665
commit b91b05adaa
1 changed files with 10 additions and 5 deletions
Download Patch File Download Diff File Expand all files Collapse all files

15
software/ground_station/Framework/DriveSystems/RoverDriveSender.py
View File

@@ -17,6 +17,8 @@ GAME_CONTROLLER_NAME = "Logitech Logitech Extreme 3D Pro"
DEFAULT_DRIVE_COMMAND_TOPIC = "command_control/groundstation_drive" DEFAULT_DRIVE_COMMAND_TOPIC = "command_control/groundstation_drive"
DRIVE_COMMAND_HERTZ = 15
##################################### #####################################
# Controller Class Definition # Controller Class Definition
@@ -36,14 +38,14 @@ class LogitechJoystick(QtCore.QThread):
self.controller_states = { self.controller_states = {
"left_stick_x_axis": 0, "left_stick_x_axis": 0,
"left_stick_y_axis": 0, "y_axis": 0,
"left_stick_center_pressed": 0, "left_stick_center_pressed": 0,
"right_stick_x_axis": 0, "right_stick_x_axis": 0,
"right_stick_y_axis": 0, "right_stick_y_axis": 0,
"right_stick_center_pressed": 0, "right_stick_center_pressed": 0,
"left_trigger_z_axis": 0, "z_axis": 0,
"left_bumper_pressed": 0, "left_bumper_pressed": 0,
"right_trigger_z_axis": 0, "right_trigger_z_axis": 0,
@@ -64,14 +66,14 @@ class LogitechJoystick(QtCore.QThread):
self.raw_mapping_to_class_mapping = { self.raw_mapping_to_class_mapping = {
"ABS_X": "left_stick_x_axis", "ABS_X": "left_stick_x_axis",
"ABS_Y": "left_stick_y_axis", "ABS_Y": "y_axis",
"BTN_THUMBL": "left_stick_center_pressed", "BTN_THUMBL": "left_stick_center_pressed",
"ABS_RX": "right_stick_x_axis", "ABS_RX": "right_stick_x_axis",
"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": "left_trigger_z_axis", "ABS_Z": "z_axis",
"BTN_TL": "left_bumper_pressed", "BTN_TL": "left_bumper_pressed",
"ABS_RZ": "right_trigger_z_axis", "ABS_RZ": "right_trigger_z_axis",
@@ -104,6 +106,7 @@ class LogitechJoystick(QtCore.QThread):
def __setup_controller(self): def __setup_controller(self):
for device in devices.gamepads: for device in devices.gamepads:
print device
if device.name == GAME_CONTROLLER_NAME: if device.name == GAME_CONTROLLER_NAME:
self.gamepad = device self.gamepad = device
@@ -152,6 +155,8 @@ class RoverDriveSender(QtCore.QThread):
# Publishers # Publishers
self.drive_command_publisher = rospy.Publisher(DEFAULT_DRIVE_COMMAND_TOPIC, DriveCommandMessage, queue_size=1) self.drive_command_publisher = rospy.Publisher(DEFAULT_DRIVE_COMMAND_TOPIC, DriveCommandMessage, queue_size=1)
self.wait_time = 1 / DRIVE_COMMAND_HERTZ
def run(self): def run(self):
while self.run_thread_flag: while self.run_thread_flag:
@@ -169,7 +174,7 @@ class RoverDriveSender(QtCore.QThread):
def __update_and_publish(self): def __update_and_publish(self):
# axis = self.joystick.controller_states["left_stick_y_axis"] # 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): def setup_signals(self, start_signal, signals_and_slots_signal, kill_signal):
start_signal.connect(self.start) start_signal.connect(self.start)