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This commit is contained in:
Björn Ellensohn 2023-08-18 10:38:21 +02:00
parent 88ab6a4d28
commit e19ed5dd92
1 changed files with 6 additions and 3 deletions
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rmp220_middleware/rmp220_middleware.py
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@ -58,13 +58,16 @@ class StateMachineNode(Node):
self.get_logger().info('Disabling chassis...')
def joy_callback(self, msg):
# if self.state == State.DISABLED and msg.buttons[7] == 1: # Joystick button 'start'
if msg.buttons[7] == 1: # Joystick button 'start'
start_button = msg.buttons[7] # Joystick button 'start'
select_button = msg.buttons[6] # Joystick button 'select'
# if self.state == State.DISABLED and msg.buttons[7] == 1:
if start_button == 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 msg.buttons[6] == 1: # Joystick button 'select'
if select_button == 1: # Joystick button 'select'
self.state = State.DISABLED
self.get_logger().info("State: DISABLED (Button 'select')")
self.disable_chassis()