ellensohn/rmp220_teleop_backup
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try reducing velocities by 1/10

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This commit is contained in:
Björn Ellensohn 2023-05-09 11:15:45 +02:00
parent 233fe4aa4c
commit 394ba305db
1 changed files with 7 additions and 7 deletions
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14
rmp220_teleop/rmp220_teleop.py
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@ -14,20 +14,20 @@ class TeleopTwistJoy(Node):
self.timer = self.create_timer(0.1, self.timer_callback) self.timer = self.create_timer(0.1, self.timer_callback)
self.twist = Twist() self.twist = Twist()
self.enable = False self.enable = False
self.limit = 0.5 self.limit = 1 * 0.1
self.max_vel = 2 self.max_vel = 2 * 0.1
def joy_callback(self, joy_msg): def joy_callback(self, joy_msg):
if joy_msg.buttons[4]: #lb if joy_msg.buttons[4]: #lb
self.limit -= 0.1 self.limit -= 0.1 * 0.1
if self.limit < 0.2: if self.limit < 0.2 * 0.1:
self.limit = 0.2 self.limit = 0.2 *0.1
if joy_msg.buttons[5]: #rb if joy_msg.buttons[5]: #rb
self.limit += 0.1 self.limit += 0.1 * 0.1
if self.limit > self.max_vel: if self.limit > self.max_vel:
self.limit = self.max_vel 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] * 10
# if joy_msg.buttons[7]: #start # if joy_msg.buttons[7]: #start
# self.enable = True # self.enable = True
# enable_chassis(self) # enable_chassis(self)