ellensohn/rmp220_middleware
1
0
Fork 0
mirror of https://github.com/bjoernellens1/rmp220_middleware.git synced 2024-11-21 23:43:46 +00:00
Code Issues Packages Projects Releases Wiki Activity

update

Browse Source
This commit is contained in:
Björn Ellensohn 2023-08-16 10:01:10 +02:00
parent 9ae699bce2
commit 7eaf3bcfe8
1 changed files with 4 additions and 2 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

6
rmp220_middleware/rmp220_middleware.py
View File

@ -66,11 +66,13 @@ class StateMachineNode(Node):
# self.state = State.ENABLED
# self.get_logger().info("State: ENABLED (Joystick)")
# 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.get_logger().info("State: ENABLED (Button 'start')")
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.get_logger().info("State: DISABLED (Button 'select')")
self.disable_chassis()