def joy_callback(msg):
global drive_pub, drive, X_SCALE, Y_SCALE
drive = drive_msg()
if msg.buttons[1]==1:
drive.velocity = 0
else:
drive.drive_angle = 255*msg.axes[3] #left && right
drive.velocity = 255*msg.axes[1] #front && back
drive_pub.publish(drive)
def __init__(self):
rospy.init_node("potentialField")
self.data = None
self.cmd = drive_msg()
self.camera_sub = rospy.Subscriber("/camera", Image, self.camera_callback)
self.ML_sub = rospy.Subscriber("/teachable_machine", Float32MultiArray, self.machine_learning_callback)
self.laser_sub = rospy.Subscriber("/scan", LaserScan, self.scan_callback)
self.drive_pub = rospy.Publisher("/drive", drive_msg, queue_size=1)
self.cartPoints = [None for x in range(500)]
self.finalVector = [100, 0]
self.max= 255
def joy_callback(msg):
global mux_mode, mux_out_pub
if msg.buttons[4] == 1:
mux_mode = 'gamepad' #LB >> joy
elif msg.buttons[5] ==1:
mux_mode = 'autonomy' #RB >> auto
#print("mux_mode: autonomy")
else:
mux_mode = ''
#print("mux_mode: standby")
drive=drive_msg()
drive.velocity=0
drive.drive_angle=0
mux_out_pub.publish(drive)