ellensohn/rmp220_teleop_backup
Archived
1
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

update

Browse Source
This commit is contained in:
Björn Ellensohn 2023-05-15 10:37:16 +02:00
parent 1a8bf53c48
commit 3bdd9d8000
1 changed files with 2 additions and 2 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

4
rmp220_teleop/rmp220_teleop.py
View File

@ -14,7 +14,7 @@ class TeleopTwistJoy(Node):
self.timer = self.create_timer(0.01, self.timer_callback) # 100 Hz self.timer = self.create_timer(0.01, self.timer_callback) # 100 Hz
self.twist = Twist() self.twist = Twist()
self.enable = False self.enable = False
self.vFactor = 1 self.vFactor = 1 # if compensation is needed. Not needed anymore for bot_mini
self.limit = 1 * self.vFactor self.limit = 1 * self.vFactor
self.max_vel = 2 * self.vFactor self.max_vel = 2 * self.vFactor
@ -28,7 +28,7 @@ class TeleopTwistJoy(Node):
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 * joy_msg.axes[0] * -2 #* 3.141592 #trying to compensate slower rotational movement? Must find out why! self.twist.angular.z = self.limit * joy_msg.axes[0] * -1 #* 3.141592 #trying to compensate slower rotational movement? Must find out why!
# if joy_msg.buttons[7]: #start # if joy_msg.buttons[7]: #start
# self.enable = True # self.enable = True
# enable_chassis(self) # enable_chassis(self)