From 184ab19119079d4d317fa56a8fc1603a78e6a60d Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Bj=C3=B6rn=20Ellensohn?= <bjoern.ellensohn@gmail.com>
Date: Tue, 18 Apr 2023 14:01:28 +0200
Subject: [PATCH] update

---
 rmp220_teleop/rmp220_teleop.py | 20 ++++++++++++++++----
 1 file changed, 16 insertions(+), 4 deletions(-)

diff --git a/rmp220_teleop/rmp220_teleop.py b/rmp220_teleop/rmp220_teleop.py
index 2e18057..16e6fb1 100644
--- a/rmp220_teleop/rmp220_teleop.py
+++ b/rmp220_teleop/rmp220_teleop.py
@@ -17,10 +17,14 @@ class TeleopTwistJoy(Node):
         self.limit = 0.5
 
     def joy_callback(self, joy_msg):
-        if joy_msg.buttons[4]: #lb
-            self.limit -= 0.5
-        if joy_msg.buttons[5]: #rb
-            self.limit += 0.5
+        # 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
@@ -57,6 +61,14 @@ def main(args=None):
         teleop_twist_joy = TeleopTwistJoy()
         enable_chassis(teleop_twist_joy)  # Call the function to enable the chassis
         rclpy.spin(teleop_twist_joy)
+        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
     except KeyboardInterrupt:
         disable_chassis(teleop_twist_joy) # chassis disable for safe close
         req = RosSetChassisEnableCmd.Request()