ellensohn/rmp220_teleop
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retry with self.limit

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This commit is contained in:
Björn Ellensohn 2023-04-18 14:19:21 +02:00
parent d149aedf4f
commit 6a6ba2953a
1 changed files with 11 additions and 10 deletions
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21
rmp220_teleop/rmp220_teleop.py
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@ -14,18 +14,19 @@ class TeleopTwistJoy(Node):
self.timer = self.create_timer(0.01, self.timer_callback)
self.twist = Twist()
self.enable = False
self.limit = 0.5
def joy_callback(self, joy_msg):
# if joy_msg.buttons[4]: #lb
# self.limit -= 0.5
# if self.limit < 0.2:
# self.limit = 0.2
# if joy_msg.buttons[5]: #rb
# self.limit += 0.5
# if self.limit > 3:
# self.limit = 3
self.twist.linear.x = 0.5 * joy_msg.axes[1]
self.twist.angular.z = 1 * joy_msg.axes[0]
if joy_msg.buttons[4]: #lb
self.limit -= 0.5
if self.limit < 0.2:
self.limit = 0.2
if joy_msg.buttons[5]: #rb
self.limit += 0.5
if self.limit > 3:
self.limit = 3
self.twist.linear.x = self.limit * joy_msg.axes[1]
self.twist.angular.z = self.limit * joy_msg.axes[0]
if joy_msg.buttons[7]: #start
self.enable = True
enable_chassis(self)