modelec/modelec-marcel-ROS
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joy

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This commit is contained in:
acki
2025-12-18 20:12:29 +01:00
parent 267d28f594
commit 0b649a980b
1 changed files with 20 additions and 1 deletions
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21
src/modelec_strat/src/action_executor.cpp
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@@ -81,9 +81,28 @@ namespace Modelec
});
joy_sub_ = node_->create_subscription<sensor_msgs::msg::Joy>(
"/joy", 10, [this](const sensor_msgs::msg::Joy::SharedPtr)
"/joy", 10, [this](const sensor_msgs::msg::Joy::SharedPtr msg)
{
// use game controller to manually control all the action. make it carefully
if (msg->buttons.size() >= 5)
{
if (msg->buttons[0] == 1) // A button
{
Down(true);
}
else if (msg->buttons[1] == 1) // B button
{
Up(true);
}
else if (msg->buttons[3] == 1) // X button
{
Down(false);
}
else if (msg->buttons[4] == 1) // Y button
{
Up(false);
}
}
});
}