def joy_callback(self, msg):
""" Set joystick mappings from gamepad callback."""
mappings = gamepad_mappings.set_gamepad_mappings(msg)
self.move_vertical = mappings[
"button_vertical"] # up: +1.0, down: -1.0
self.move_horizontal = mappings[
"button_horizontal"] # left: +1.0, right: -1.0
def joy_callback(self, msg):
""" Set joystick mappings from gamepad callback.
Start sorting process if button_down pressed."""
mappings = gamepad_mappings.set_gamepad_mappings(msg)
if mappings["button_rb"] == 1:
if DEBUG: print("Autosort Button DOWN")
self.AUTO_SORT_TOGGLE = True
else:
if DEBUG: print("Autosort Button UP")
self.AUTO_SORT_TOGGLE = False
self.stop_all_drive_cmds()
def joy_callback(msg):
global MUX_MODE
global PREVIOUS_MUX_MODE
# get gamepad mappings
mapping = gamepad_mappings.set_gamepad_mappings(msg)
manual = mapping["button_lb"]
auto = mapping["button_rb"]
competition = mapping["button_start"]
shutdown = mapping["button_back"]
# TODO START: TESTING DIGITAL ELECTRONICS
# intake motor
intake_motor = mapping["button_horizontal"] # left button
# dispenser servo
dispenser_servo = mapping["button_vertical"] # up button
# dispenser motor
dispenser_left = mapping["button_x"]
dispenser_right = mapping["button_b"]
# auto sorter
auto_sorter = mapping["button_vertical"] # down button
# TODO END: TESTING DIGITAL ELECTRONICS
# if LB is pressed, enable teleop
if manual == 1:
MUX_MODE = "manual"
# if RB is pressed, enable autonomy
elif auto == 1:
MUX_MODE = "auto"
# if START button is pressed, enable 250 sec competition mode
elif competition == 1:
MUX_MODE = "competition"
# if END button is pressed, HARD shutdown system
elif shutdown == 1:
MUX_MODE = "shutdown"
# TODO START: TESTING DIGITAL ELECTRONICS
elif intake_motor == 1:
MUX_MODE = "intake_motor"
elif dispenser_servo == 1:
MUX_MODE = "dispenser_servo"
elif dispenser_left == 1:
MUX_MODE = "dispenser_left"
elif dispenser_right == 1:
MUX_MODE = "dispenser_right"
elif auto_sorter == -1:
MUX_MODE = "auto_sorter"
# TODO END: TESTING DIGITAL ELECTRONICS
else:
MUX_MODE = ""
# print mode
if (PREVIOUS_MUX_MODE != MUX_MODE) and (MUX_MODE != ""):
rospy.loginfo(MUX_MODE)
PREVIOUS_MUX_MODE = MUX_MODE
def joy_callback(self, msg):
""" Set joystick mappings from gamepad callback.
"""
# Set drive_cmd based on current mapping values
mappings = gamepad_mappings.set_gamepad_mappings(msg)
self.set_drive_cmds(mappings)
def joy_callback(self, msg):
""" Set joystick mappings from gamepad callback."""
mappings = gamepad_mappings.set_gamepad_mappings(msg)
self.set_dispenser_cmds(mappings)