modelec/modelec-marcel-ROS
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acki
2025-12-17 17:51:12 +01:00
parent 51b43cd262
commit b194f4d870
1 changed files with 12 additions and 9 deletions
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21
src/modelec_com/src/pcb_odo_interface.cpp
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@@ -73,19 +73,22 @@ namespace Modelec
"joy", 30,
[this](const sensor_msgs::msg::Joy::SharedPtr msg)
{
double forward = msg->axes[1];
double turn = msg->axes[2];
double left_axis = msg->axes[1];
double right_axis = msg->axes[2];
if (fabs(forward) < 0.05) forward = 0.0;
if (fabs(turn) < 0.05) turn = 0.0;
if (fabs(left_axis) < 0.05) left_axis = 0.0;
if (fabs(right_axis) < 0.05) right_axis = 0.0;
int left = static_cast<int>(forward * 626 - turn * 626);
int right = static_cast<int>(forward * 626 + turn * 626);
// int left = static_cast<int>(forward * 626 - turn * 626);
// int right = static_cast<int>(forward * 626 + turn * 626);
left = std::max(-626, std::min(626, left));
right = std::max(-626, std::min(626, right));
int left_motor = static_cast<int>(left_axis * 626);
int right_motor = static_cast<int>(right_axis * 626);
SetMotor(left, right);
left_motor = std::max(-626, std::min(626, left_motor));
right_motor = std::max(-626, std::min(626, right_motor));
SetMotor(left_motor, right_motor);
});
start_odo_sub_ = this->create_subscription<std_msgs::msg::Bool>(