ellensohn/rmp220_teleop_backup
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changed max_vel

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Björn Ellensohn 2023-05-09 10:13:59 +02:00
parent 91dc3e17c2
commit 233fe4aa4c
1 changed files with 3 additions and 2 deletions
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5
rmp220_teleop/rmp220_teleop.py
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@ -15,6 +15,7 @@ class TeleopTwistJoy(Node):
self.twist = Twist() self.twist = Twist()
self.enable = False self.enable = False
self.limit = 0.5 self.limit = 0.5
self.max_vel = 2
def joy_callback(self, joy_msg): def joy_callback(self, joy_msg):
if joy_msg.buttons[4]: #lb if joy_msg.buttons[4]: #lb
@ -23,8 +24,8 @@ class TeleopTwistJoy(Node):
self.limit = 0.2 self.limit = 0.2
if joy_msg.buttons[5]: #rb if joy_msg.buttons[5]: #rb
self.limit += 0.1 self.limit += 0.1
if self.limit > 3: if self.limit > self.max_vel:
self.limit = 3 self.limit = self.max_vel
self.twist.linear.x = self.limit * joy_msg.axes[1] self.twist.linear.x = self.limit * joy_msg.axes[1]
self.twist.angular.z = -self.limit *2 * joy_msg.axes[0] self.twist.angular.z = -self.limit *2 * joy_msg.axes[0]
# if joy_msg.buttons[7]: #start # if joy_msg.buttons[7]: #start