modelec/modelec-marcel-ROS
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was pressed

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This commit is contained in:
acki
2024-12-04 10:14:02 -05:00
parent 48936a255d
commit 86485e45a0
2 changed files with 34 additions and 10 deletions
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7
src/modelec/include/modelec/gamecontroller_listener.hpp
View File

@@ -18,6 +18,13 @@ namespace Modelec {
};
int arm = ServoMode::ARM_BOTTOM;
bool button_2_was_pressed = false;
bool button_3_was_pressed = false;
bool button_1_was_pressed = false;
bool button_0_was_pressed = false;
bool button_9_was_pressed = false;
bool button_8_was_pressed = false;
public:
ControllerListener();

37
src/modelec/src/gamecontroller_listener.cpp
View File

@@ -15,16 +15,7 @@ namespace Modelec {
void ControllerListener::joy_callback(const sensor_msgs::msg::Joy::SharedPtr msg)
{
// Handle the joystick input here
RCLCPP_INFO(this->get_logger(), "Joystick axes: [%f, %f, %f, %f, %f, %f]",
msg->axes[0], msg->axes[1], msg->axes[2], msg->axes[3], msg->axes[4], msg->axes[5]);
RCLCPP_INFO(this->get_logger(), "Joystick buttons: [%d, %d, %d, %d, %d, %d, %d, %d, %d, %d, %d, %d]",
msg->buttons[0], msg->buttons[1], msg->buttons[2], msg->buttons[3],
msg->buttons[4], msg->buttons[5], msg->buttons[6], msg->buttons[7],
msg->buttons[8], msg->buttons[9], msg->buttons[10], msg->buttons[11]);
// to check mapping : https://index.ros.org//p/joy/
CheckButton(msg);
CheckAxis(msg);
}
@@ -32,6 +23,9 @@ namespace Modelec {
void ControllerListener::CheckButton(const sensor_msgs::msg::Joy::SharedPtr msg)
{
if (msg->buttons[2] == 1) {
if (button_2_was_pressed) {
return;
}
auto message = ServoMode();
message.pin = 0;
if (pinces[0] == ServoMode::PINCE_CLOSED) {
@@ -41,8 +35,13 @@ namespace Modelec {
}
message.mode = pinces[0];
servo_publisher_->publish(message);
} else {
button_2_was_pressed = false;
}
if (msg->buttons[3] == 1) {
if (button_3_was_pressed) {
return;
}
auto message = ServoMode();
message.pin = 1;
if (pinces[1] == ServoMode::PINCE_CLOSED) {
@@ -52,8 +51,13 @@ namespace Modelec {
}
message.mode = pinces[1];
servo_publisher_->publish(message);
} else {
button_3_was_pressed = false;
}
if (msg->buttons[1] == 1) {
if (button_1_was_pressed) {
return;
}
auto message = ServoMode();
message.pin = 2;
if (pinces[2] == ServoMode::PINCE_CLOSED) {
@@ -63,10 +67,15 @@ namespace Modelec {
}
message.mode = pinces[2];
servo_publisher_->publish(message);
} else {
button_1_was_pressed = false;
}
// arm
if (msg->buttons[0] == 1) {
if (button_0_was_pressed) {
return;
}
auto message = ServoMode();
if (arm == ServoMode::ARM_BOTTOM) {
arm = ServoMode::ARM_TOP;
@@ -77,12 +86,20 @@ namespace Modelec {
}
message.mode = arm;
servo_publisher_->publish(message);
} else {
button_0_was_pressed = false;
}
if (msg->buttons[9] || msg->buttons[10]) {
if (button_9_was_pressed || button_8_was_pressed) {
return;
}
auto message = std_msgs::msg::String();
message.data = "W\n";
arduino_publisher_->publish(message);
} else {
button_9_was_pressed = false;
button_8_was_pressed = false;
}
}