joystick accelerator control finished, tested

arduino/brake_accelerator_controller/brake_accelerator_controller.ino

@@ -14,12 +14,12 @@
 #define LPWM 6
 #define M_PI 3.14159265359
 #define POT_MAX 100
-#define POT_MIN 0
+#define POT_MIN 30
 #define LA_MIN 0
 #define LA_MAX 0
 #define LA_PIN 0
 
-ros::NodeHandle nh;
+ros::NodeHandle nh; 
 
 boolean joystick_enabled = false;
 float target_speed = 0.0;
@@ -34,11 +34,10 @@ void cruise_callback( const std_msgs::Float32& cmd_msg) {
 
 void joystick_callback( const std_msgs::Float32& cmd_msg) {
 
-  if (joystick_enabled) {
-
-    if (cmd_val > 0) {
+  if (joystick_enabled == 1) {
+    if (cmd_msg.data >= 0) {
       cmd_val = mapf(cmd_msg.data, 0, 1, POT_MIN, POT_MAX);
-    } else if (cmd_val < 0) {
+    } else {
       // engage brakes
     }
   }
@@ -77,7 +76,6 @@ void setup() {
   // set the slaveSelectPin as an output:
   pinMode (slave_Select_Pin, OUTPUT);
   digitalWrite(slave_Select_Pin, LOW);
-
   // initialize SPI:
   SPI.begin();
 }
@@ -86,18 +84,12 @@ void loop() {
 
   potWrite(slave_Select_Pin, B00010001, cmd_val);
   potWrite(slave_Select_Pin, B00010010, cmd_val);
-
-  /*
-    if (cruise_speed == -1) {
-      potWrite(slave_Select_Pin, B00010001, 0);
-      potWrite(slave_Select_Pin, B00010010, 0);
-
-      press_break(1);
-      delay(1000);
-      release_break(1);
-
-      Serial.println("brakes engaged");
-    }*/
+
+  pos_msg.data = cmd_val;
+  pos_pub.publish(&pos_msg);
+
+  nh.spinOnce();
+  delay(5);
 }
 
 

ros/src/gui/launch/rqt.launch

@@ -4,10 +4,15 @@
     <include file="$(find cv_camera)/launch/start_camera.launch"/>
 
     <!-- setup the Arduino serial -->
-    <node name="serial_node" pkg="rosserial_python" type="serial_node.py">
+    <node name="serial_node_1" pkg="rosserial_python" type="serial_node.py">
     	<param name="port" value="/dev/ttyACM0" />
     </node>
 
+    <!-- setup the Arduino (braking accelerator) serial -->
+    <node name="serial_node_2" pkg="rosserial_python" type="serial_node.py">
+    	<param name="port" value="/dev/ttyACM1" />
+    </node>
+
     <!-- start joystick -->
     <include file="$(find joy)/launch/joystick.launch"/>
 

ros/src/sensors/joystick/scripts/selective_output.py

@@ -13,26 +13,32 @@ class SelectiveOutput(object):
     def __init__(self):
 
         self.output = None
+        self.left_stick_y = None
         rospy.init_node('selective_output')
 
         rospy.Subscriber('/sensor/joystick/joy', Joy, callback=self.joystick_input_callback, queue_size=5)
-        self.publisher = rospy.Publisher('/sensor/joystick/left_stick_x', data_class=Float32, queue_size=5)
-
-        rate = rospy.Rate(24)
+        self.publisher1 = rospy.Publisher('/sensor/joystick/left_stick_x', data_class=Float32, queue_size=5)
+        self.publisher2 = rospy.Publisher('/sensor/joystick/right_stick_y', data_class=Float32, queue_size=5)
+        rate = rospy.Rate(30)
 
         while not rospy.is_shutdown():
 
-            if self.output is not None:
+            if self.output is not None and self.left_stick_y is not None:
                 data = Float32()
                 data.data = self.output
-                self.publisher.publish(data)
+                self.publisher1.publish(data)
+
+                data2 = Float32()
+                data2.data = self.left_stick_y
+                self.publisher2.publish(data2)
 
             rate.sleep()
 
     def joystick_input_callback(self, data):
 
         inputs = data.axes
         self.output = inputs[0]
+        self.left_stick_y = inputs[4]
         # rospy.loginfo(self.output)