def flipper_jcb(self, joy):
if joy.buttons[self.deadman_button]:
flipper_command = FlipperCommand()
if joy.buttons[self.rl_button]:
flipper_command.object_id = ID_FLIPPER_REAR_LEFT
if joy.pressed(self.reset_button):
flipper_command.angle = 0.
self.flipper_pub.publish(flipper_command)
if joy.axis_touched(self.flipper_axis):
flipper_command.angle = joy.axes[
self.flipper_axis] * pi / 2.
self.flipper_pub.publish(flipper_command)
def flipper_jcb(self, joy):
'''Handle flippers command based on the joystick input.'''
if joy.is_down_any(self.deadman_buttons):
if joy.pressed(self.flipper_reset_button): # flat button
self.posture_cmd_pub.publish(0)
elif joy.axis_touched(self.flipper_axis):
try:
if all([
joy.buttons[button]
for button in self.get_flipper_buttons()
]):
self.fs.frontLeft -= joy.axes[
self.flipper_axis] * self.flipper_increment
self.fs.frontRight -= joy.axes[
self.flipper_axis] * self.flipper_increment
self.fs.rearLeft += joy.axes[
self.flipper_axis] * self.flipper_increment
self.fs.rearRight += joy.axes[
self.flipper_axis] * self.flipper_increment
self.flippers_pub.publish(self.fs)
else: # individual control
flipperMotion = FlipperCommand()
if joy.buttons[self.flipper_button_fl]:
flipperMotion.object_id = ID_FLIPPER_FRONT_LEFT
flipperMotion.angle = self.fs.frontLeft - joy.axes[
self.flipper_axis] * self.flipper_increment
self.flipper_pub.publish(flipperMotion)
if joy.buttons[self.flipper_button_fr]:
flipperMotion.object_id = ID_FLIPPER_FRONT_RIGHT
flipperMotion.angle = self.fs.frontRight - joy.axes[
self.flipper_axis] * self.flipper_increment
self.flipper_pub.publish(flipperMotion)
if joy.buttons[self.flipper_button_rl]:
flipperMotion.object_id = ID_FLIPPER_REAR_LEFT
flipperMotion.angle = self.fs.rearLeft + joy.axes[
self.flipper_axis] * self.flipper_increment
self.flipper_pub.publish(flipperMotion)
if joy.buttons[self.flipper_button_rr]:
flipperMotion.object_id = ID_FLIPPER_REAR_RIGHT
flipperMotion.angle = self.fs.rearRight + joy.axes[
self.flipper_axis] * self.flipper_increment
self.flipper_pub.publish(flipperMotion)
except (TypeError, AttributeError), e:
rospy.logwarn(
'Flipper command ignored since no FlippersState message received.'
)
