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Fixes to work with new controller and manipulate pitch.

Browse Source 
Thanks Ben

Signed-off-by: Prathyoosha Chaya <chayap@oregonstate.edu>
This commit is contained in:
Prathyoosha Chaya
2018-10-04 19:50:37 -07:00
parent cc354a978d
commit d39862a74b
4 changed files with 93 additions and 22 deletions
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4
software/ros_packages/ground_station/src/Framework/ControlSystems/DriveAndCameraControlSender.py
View File

@@ -13,8 +13,8 @@ from rover_control.msg import DriveCommandMessage, TowerPanTiltControlMessage
##################################### #####################################
# Global Variables # Global Variables
##################################### #####################################
GAME_CONTROLLER_NAME = "Microsoft X-Box One S pad" #GAME_CONTROLLER_NAME = "Microsoft X-Box One S pad" <-- This was the actual xbox controller that Dylan had to buy at CIRC 2018
GAME_CONTROLLER_NAME = "PowerA Xbox One wired controller"
DEFAULT_DRIVE_COMMAND_TOPIC = "/rover_control/command_control/ground_station_drive" DEFAULT_DRIVE_COMMAND_TOPIC = "/rover_control/command_control/ground_station_drive"
DEFAULT_TOWER_PAN_TILT_COMMAND_TOPIC = "/rover_control/tower/pan_tilt/control" DEFAULT_TOWER_PAN_TILT_COMMAND_TOPIC = "/rover_control/tower/pan_tilt/control"
DEFAULT_CHASSIS_PAN_TILT_COMMAND_TOPIC = "/rover_control/chassis/pan_tilt/control" DEFAULT_CHASSIS_PAN_TILT_COMMAND_TOPIC = "/rover_control/chassis/pan_tilt/control"

21
software/ros_packages/ground_station/src/Framework/ControlSystems/EffectorsAndArmControlSender.py
View File

@@ -197,6 +197,8 @@ class EffectorsAndArmControlSender(QtCore.QThread):
self.gripper_mode_wide_label = self.right_screen.gripper_mode_wide_label # type: QtWidgets.QLabel self.gripper_mode_wide_label = self.right_screen.gripper_mode_wide_label # type: QtWidgets.QLabel
self.gripper_mode_scissor_label = self.right_screen.gripper_mode_scissor_label # type: QtWidgets.QLabel self.gripper_mode_scissor_label = self.right_screen.gripper_mode_scissor_label # type: QtWidgets.QLabel
self.arm_speed_limit_slider = self.right_screen.arm_speed_limit_slider # type: QtWidgets.QSlider
# ########## Get the settings instance ########## # ########## Get the settings instance ##########
self.settings = QtCore.QSettings() self.settings = QtCore.QSettings()
@@ -373,30 +375,27 @@ class EffectorsAndArmControlSender(QtCore.QThread):
right_x_axis = self.controller.controller_states["right_x_axis"] if abs(self.controller.controller_states[ right_x_axis = self.controller.controller_states["right_x_axis"] if abs(self.controller.controller_states[
"right_x_axis"]) > RIGHT_X_AXIS_DEADZONE else 0 "right_x_axis"]) > RIGHT_X_AXIS_DEADZONE else 0
# print left_x_axis, ":", left_y_axis, ":", right_x_axis, ":", right_y_axis speed_limit = self.arm_speed_limit_slider.value() / 100.0
left_trigger_ratio = left_trigger / 255.0
right_trigger_ratio = right_trigger / 255.0
if left_trigger > 0: if left_trigger > 0:
should_publish_arm = True should_publish_arm = True
arm_control_message.base = ((left_x_axis / THUMB_STICK_MAX) * BASE_SCALAR) * left_trigger_ratio arm_control_message.base = ((left_x_axis / THUMB_STICK_MAX) * BASE_SCALAR) * speed_limit
arm_control_message.shoulder = ((left_y_axis / THUMB_STICK_MAX) * SHOULDER_SCALAR) * left_trigger_ratio arm_control_message.shoulder = ((left_y_axis / THUMB_STICK_MAX) * SHOULDER_SCALAR) * speed_limit
arm_control_message.elbow = (-(right_y_axis / THUMB_STICK_MAX) * ELBOW_SCALAR) * left_trigger_ratio arm_control_message.elbow = (-(right_y_axis / THUMB_STICK_MAX) * ELBOW_SCALAR) * speed_limit
arm_control_message.roll = (-(right_x_axis / THUMB_STICK_MAX) * ROLL_SCALAR) * left_trigger_ratio arm_control_message.roll = (-(right_x_axis / THUMB_STICK_MAX) * ROLL_SCALAR) * speed_limit
elif right_trigger > 0: elif right_trigger > 0:
should_publish_arm = True should_publish_arm = True
should_publish_gripper = True should_publish_gripper = True
arm_control_message.wrist_roll = ((left_x_axis / THUMB_STICK_MAX) * BASE_SCALAR) * right_trigger_ratio arm_control_message.wrist_roll = ((left_x_axis / THUMB_STICK_MAX) * BASE_SCALAR) * speed_limit
# ##### FIXME ##### # ##### FIXME #####
# Remove this once the arm is fixed # Remove this once the arm is fixed
# arm_control_message.wrist_pitch = (-(left_y_axis / THUMB_STICK_MAX) * WRIST_PITCH_SCALAR) * right_trigger_ratio # arm_control_message.wrist_pitch = (-(left_y_axis / THUMB_STICK_MAX) * WRIST_PITCH_SCALAR) * speed_limit
# ################# # #################
gripper_control_message.gripper_position_relative = (-(right_y_axis / THUMB_STICK_MAX) * GRIPPER_MOVEMENT_SCALAR) * right_trigger_ratio gripper_control_message.gripper_position_relative = (-(right_y_axis / THUMB_STICK_MAX) * GRIPPER_MOVEMENT_SCALAR)
if should_publish_arm: if should_publish_arm:
self.relative_arm_control_publisher.publish(arm_control_message) self.relative_arm_control_publisher.publish(arm_control_message)

88
software/ros_packages/ground_station/src/Resources/Ui/right_screen.ui
View File

@@ -2217,7 +2217,7 @@ Position</string>
<widget class="QLabel" name="label_9"> <widget class="QLabel" name="label_9">
<property name="font"> <property name="font">
<font> <font>
<pointsize>14</pointsize> <pointsize>12</pointsize>
<weight>75</weight> <weight>75</weight>
<bold>true</bold> <bold>true</bold>
</font> </font>
@@ -2308,7 +2308,7 @@ Position</string>
<widget class="QLabel" name="label_5"> <widget class="QLabel" name="label_5">
<property name="font"> <property name="font">
<font> <font>
<pointsize>14</pointsize> <pointsize>12</pointsize>
<weight>75</weight> <weight>75</weight>
<bold>true</bold> <bold>true</bold>
</font> </font>
@@ -2378,13 +2378,13 @@ Position</string>
<widget class="QLabel" name="label_3"> <widget class="QLabel" name="label_3">
<property name="font"> <property name="font">
<font> <font>
<pointsize>14</pointsize> <pointsize>12</pointsize>
<weight>75</weight> <weight>75</weight>
<bold>true</bold> <bold>true</bold>
</font> </font>
</property> </property>
<property name="text"> <property name="text">
<string>Speed Limit</string> <string>Rover Speed Limit</string>
</property> </property>
<property name="alignment"> <property name="alignment">
<set>Qt::AlignCenter</set> <set>Qt::AlignCenter</set>
@@ -2419,11 +2419,71 @@ Position</string>
</property> </property>
</spacer> </spacer>
</item> </item>
<item>
<layout class="QVBoxLayout" name="verticalLayout_16">
<item>
<spacer name="verticalSpacer_8">
<property name="orientation">
<enum>Qt::Vertical</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>20</width>
<height>40</height>
</size>
</property>
</spacer>
</item>
<item>
<widget class="QLabel" name="label_11">
<property name="font">
<font>
<pointsize>12</pointsize>
<weight>75</weight>
<bold>true</bold>
</font>
</property>
<property name="text">
<string>Arm Speed Limit</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
</widget>
</item>
<item>
<widget class="QSlider" name="arm_speed_limit_slider">
<property name="maximum">
<number>100</number>
</property>
<property name="value">
<number>50</number>
</property>
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
</widget>
</item>
<item>
<spacer name="verticalSpacer_9">
<property name="orientation">
<enum>Qt::Vertical</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>20</width>
<height>40</height>
</size>
</property>
</spacer>
</item>
</layout>
</item>
<item> <item>
<widget class="QLabel" name="label_6"> <widget class="QLabel" name="label_6">
<property name="font"> <property name="font">
<font> <font>
<pointsize>14</pointsize> <pointsize>12</pointsize>
<weight>75</weight> <weight>75</weight>
<bold>true</bold> <bold>true</bold>
</font> </font>
@@ -2534,7 +2594,7 @@ Position</string>
<widget class="QLabel" name="label_4"> <widget class="QLabel" name="label_4">
<property name="font"> <property name="font">
<font> <font>
<pointsize>14</pointsize> <pointsize>12</pointsize>
<weight>75</weight> <weight>75</weight>
<bold>true</bold> <bold>true</bold>
</font> </font>
@@ -2578,7 +2638,13 @@ Position</string>
<property name="minimumSize"> <property name="minimumSize">
<size> <size>
<width>0</width> <width>0</width>
<height>50</height> <height>25</height>
</size>
</property>
<property name="maximumSize">
<size>
<width>16777215</width>
<height>25</height>
</size> </size>
</property> </property>
</widget> </widget>
@@ -2611,7 +2677,13 @@ Position</string>
<property name="minimumSize"> <property name="minimumSize">
<size> <size>
<width>0</width> <width>0</width>
<height>50</height> <height>25</height>
</size>
</property>
<property name="maximumSize">
<size>
<width>16777215</width>
<height>25</height>
</size> </size>
</property> </property>
</widget> </widget>

2
software/ros_packages/rover_main/launch/rover/cameras.launch
View File

@@ -3,7 +3,7 @@
<!-- Start Undercarriage Camera --> <!-- Start Undercarriage Camera -->
<node name="undercarriage" pkg="rover_camera" type="rover_camera" launch-prefix="taskset -c 1" respawn="true" output="screen"> <node name="undercarriage" pkg="rover_camera" type="rover_camera" launch-prefix="taskset -c 1" respawn="true" output="screen">
<param name="device_path" value="/dev/rover/camera_undercarriage"/> <param name="device_path" value="/dev/rover/camera_undercarriage"/>
<param name="upside_down" value="true"/> <!--<param name="upside_down" value="true"/>-->
</node> </node>
<!--&lt;!&ndash; Start Main Navigation Camera &ndash;&gt;--> <!--&lt;!&ndash; Start Main Navigation Camera &ndash;&gt;-->