modelec/modelec-marcel-ROS
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map value

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This commit is contained in:
acki
2024-12-04 10:31:02 -05:00
parent 41d6a0a559
commit 6fef656f25
1 changed files with 2 additions and 4 deletions
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6
src/modelec/src/gamecontroller_listener.cpp
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@@ -114,10 +114,9 @@ namespace Modelec {
auto message = std_msgs::msg::String(); auto message = std_msgs::msg::String();
int speed = 0; int speed = 0;
if (msg->axes[1] < 0.1 && msg->axes[1] > -0.1) { if (msg->axes[1] < 0.1 && msg->axes[1] > -0.1) {
RCLCPP_INFO(this->get_logger(), "speed: 0");
speed = 0; speed = 0;
} else { } else {
speed = Modelec::mapValue(static_cast<int>(msg->axes[1]), -1, 1, -310, 310); speed = static_cast<int>(Modelec::mapValue(static_cast<float>(msg->axes[1]), -1.0f, 1.0f, -310.0f, 310.0f));
} }
if (speed != last_speed) { if (speed != last_speed) {
@@ -128,10 +127,9 @@ namespace Modelec {
int rotation = 0; int rotation = 0;
if (msg->axes[3] < 0.1 && msg->axes[3] > -0.1) { if (msg->axes[3] < 0.1 && msg->axes[3] > -0.1) {
RCLCPP_INFO(this->get_logger(), "rotation: 0");
rotation = 0; rotation = 0;
} else { } else {
rotation = Modelec::mapValue(static_cast<int>(-msg->axes[3]), -1, 1, -310, 310); rotation = static_cast<int>(Modelec::mapValue(static_cast<float>(-msg->axes[3]), -1.0f, 1.0f, -310.0f, 310.0f));
} }
if (rotation != last_rotation) { if (rotation != last_rotation) {