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Update game controller listener to handle new button mappings and adjust solar panel angle input

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This commit is contained in:
acki
2024-12-05 21:34:29 -05:00
parent d081154ebb
commit d8059103a6
2 changed files with 12 additions and 12 deletions
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4
src/modelec/include/modelec/gamecontroller_listener.hpp
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@@ -53,8 +53,8 @@ namespace Modelec {
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_10_was_pressed = false;
bool button_4_was_pressed = false;
bool button_5_was_pressed = false;
int last_speed = 0;
int last_rotation = 0;

20
src/modelec/src/gamecontroller_listener.cpp
View File

@@ -97,26 +97,26 @@ namespace Modelec {
button_0_was_pressed = false;
}
if (msg->buttons[9]) {
if (button_9_was_pressed) {
if (msg->buttons[4]) {
if (button_4_was_pressed) {
return;
}
auto message = std_msgs::msg::String();
message.data = "W\n";
arduino_publisher_->publish(message);
button_9_was_pressed = true;
button_4_was_pressed = true;
} else {
button_9_was_pressed = false;
button_4_was_pressed = false;
}
if (msg->buttons[10]) {
if (button_10_was_pressed) {
if (msg->buttons[5]) {
if (button_5_was_pressed) {
return;
}
clear_pca_publisher_->publish(std_msgs::msg::Empty());
button_10_was_pressed = true;
button_5_was_pressed = true;
} else {
button_10_was_pressed = false;
button_5_was_pressed = false;
}
}
@@ -149,8 +149,8 @@ namespace Modelec {
last_rotation = rotation;
}
if (msg->axes[4] != last_solar_1_angle) {
int solarPannelAngle = static_cast<int>(Modelec::mapValue(static_cast<float>(msg->axes[4]), -1.0f, 1.0f, solarPannelServos[0].startAngle, solarPannelServos[0].endAngle));
if (msg->axes[2] != last_solar_1_angle) {
int solarPannelAngle = static_cast<int>(Modelec::mapValue(static_cast<float>(msg->axes[2]), -1.0f, 1.0f, solarPannelServos[0].startAngle, solarPannelServos[0].endAngle));
auto solarPannelAngleMessage = modelec_interface::msg::PCA9685Servo();
solarPannelAngleMessage.pin = solarPannelServos[0].pin;
solarPannelAngleMessage.angle = solarPannelAngle;