caperren/osurc_mars_rover_2017_2018
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Added sender for tower pan/tilt control. Tested and works.

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This commit is contained in:
Corwin Perren
2018-06-02 16:02:04 -07:00
parent cc3f91b5ff
commit d89685a156
1 changed files with 16 additions and 1 deletions
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17
software/ros_packages/ground_station/src/Framework/InputSystems/JoystickControlSender.py
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@@ -8,7 +8,7 @@ from inputs import devices, GamePad
from time import time
import rospy
from rover_control.msg import DriveCommandMessage
from rover_control.msg import DriveCommandMessage, TowerPanTiltControlMessage
#####################################
# Global Variables
@@ -16,6 +16,7 @@ from rover_control.msg import DriveCommandMessage
GAME_CONTROLLER_NAME = "Logitech Logitech Extreme 3D Pro"
DEFAULT_DRIVE_COMMAND_TOPIC = "/rover_control/command_control/ground_station_drive"
DEFAULT_PAN_TILT_COMMAND_TOPIC = "/tower/control"
DRIVE_COMMAND_HERTZ = 15
@@ -30,6 +31,8 @@ CAMERA_CHANGE_TIME = 0.2
GUI_ELEMENT_CHANGE_TIME = 0.2
CAMERA_TOGGLE_CHANGE_TIME = 0.35
PAN_TILT_X_AXIS_SCALAR = 5
PAN_TILT_Y_AXIS_SCALAR = 10
#####################################
# Controller Class Definition
@@ -163,6 +166,7 @@ class JoystickControlSender(QtCore.QThread):
# ########## Class Variables ##########
# Publishers
self.drive_command_publisher = rospy.Publisher(DEFAULT_DRIVE_COMMAND_TOPIC, DriveCommandMessage, queue_size=1)
self.tower_pan_tilt_command_publisher = rospy.Publisher(DEFAULT_PAN_TILT_COMMAND_TOPIC, TowerPanTiltControlMessage, queue_size=1)
self.wait_time = 1.0 / DRIVE_COMMAND_HERTZ
@@ -200,6 +204,7 @@ class JoystickControlSender(QtCore.QThread):
def __update_and_publish(self):
self.publish_drive_command()
self.publish_camera_control_commands()
self.publish_pan_tilt_control_commands()
def publish_drive_command(self):
throttle_axis = max((255 - self.joystick.controller_states["throttle_axis"]) / 255.0, THROTTLE_MIN)
@@ -239,6 +244,16 @@ class JoystickControlSender(QtCore.QThread):
self.toggle_selected_gui_camera__signal.emit()
self.last_camera_toggle_time = time()
def publish_pan_tilt_control_commands(self):
hat_x = self.joystick.controller_states["hat_x_axis"]
hat_y = self.joystick.controller_states["hat_y_axis"]
pan_tilt_message = TowerPanTiltControlMessage()
pan_tilt_message.relative_pan_adjustment = hat_x * PAN_TILT_X_AXIS_SCALAR
pan_tilt_message.relative_tilt_adjustment = -(hat_y * PAN_TILT_Y_AXIS_SCALAR)
self.tower_pan_tilt_command_publisher.publish(pan_tilt_message)
def get_drive_message(self, throttle_axis):
drive_message = DriveCommandMessage()