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Björn Ellensohn 2023-08-16 10:01:10 +02:00
parent 9ae699bce2
commit 7eaf3bcfe8
1 changed files with 4 additions and 2 deletions
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rmp220_middleware/rmp220_middleware.py
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@ -66,11 +66,13 @@ class StateMachineNode(Node):
# self.state = State.ENABLED # self.state = State.ENABLED
# self.get_logger().info("State: ENABLED (Joystick)") # self.get_logger().info("State: ENABLED (Joystick)")
# self.enable_chassis() # self.enable_chassis()
if self.state == State.DISABLED and msg.buttons[7] == 1: # Joystick button 'start' # if self.state == State.DISABLED and msg.buttons[7] == 1: # Joystick button 'start'
if msg.buttons[7] == 1: # Joystick button 'start'
self.state = State.ENABLED self.state = State.ENABLED
self.get_logger().info("State: ENABLED (Button 'start')") self.get_logger().info("State: ENABLED (Button 'start')")
self.enable_chassis() self.enable_chassis()
if self.state == State.ENABLED and msg.buttons[6] == 1: # Joystick button 'select' # if self.state == State.ENABLED and msg.buttons[6] == 1: # Joystick button 'select'
if msg.buttons[6] == 1: # Joystick button 'select'
self.state = State.DISABLED self.state = State.DISABLED
self.get_logger().info("State: DISABLED (Button 'select')") self.get_logger().info("State: DISABLED (Button 'select')")
self.disable_chassis() self.disable_chassis()