diff --git a/.DS_Store b/.DS_Store
deleted file mode 100644
index ab0f7737..00000000
Binary files a/.DS_Store and /dev/null differ
diff --git a/.idea/workspace.xml b/.idea/workspace.xml
index 465e39d3..3670cdb1 100644
--- a/.idea/workspace.xml
+++ b/.idea/workspace.xml
@@ -2,12 +2,9 @@
-
-
-
-
-
-
+
+
+
@@ -64,15 +61,36 @@
-
+
-
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
@@ -170,12 +188,10 @@
-
-
@@ -192,10 +208,12 @@
+
+
-
+
@@ -229,24 +247,15 @@
-
-
-
-
-
-
-
-
-
+
-
-
-
+
+
@@ -260,14 +269,16 @@
-
+
+
-
+
+
@@ -423,12 +434,12 @@
-
+
-
+
@@ -533,16 +544,6 @@
-
-
-
-
-
-
-
-
-
-
@@ -580,13 +581,6 @@
-
-
-
-
-
-
-
@@ -706,10 +700,27 @@
-
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
\ No newline at end of file
diff --git a/arduino/.DS_Store b/arduino/.DS_Store
deleted file mode 100644
index f2a3b7a5..00000000
Binary files a/arduino/.DS_Store and /dev/null differ
diff --git a/arduino/brake_accelerator_controller/brake_accelerator_controller.ino b/arduino/brake_accelerator_controller/brake_accelerator_controller.ino
index 4a522ef6..b14ae712 100644
--- a/arduino/brake_accelerator_controller/brake_accelerator_controller.ino
+++ b/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);
}
diff --git a/ros/src/gui/launch/rqt.launch b/ros/src/gui/launch/rqt.launch
index 094a3989..e86f4590 100644
--- a/ros/src/gui/launch/rqt.launch
+++ b/ros/src/gui/launch/rqt.launch
@@ -4,10 +4,15 @@
-
+
+
+
+
+
+
diff --git a/ros/src/sensors/joystick/scripts/selective_output.py b/ros/src/sensors/joystick/scripts/selective_output.py
index 88d28d1d..da69b9b0 100755
--- a/ros/src/sensors/joystick/scripts/selective_output.py
+++ b/ros/src/sensors/joystick/scripts/selective_output.py
@@ -13,19 +13,24 @@ 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()
@@ -33,6 +38,7 @@ def joystick_input_callback(self, data):
inputs = data.axes
self.output = inputs[0]
+ self.left_stick_y = inputs[4]
# rospy.loginfo(self.output)