XboxTeleopAtlascar Class Reference

This class simplifies the implementation of a interface between xbox and PTU. More...

#include <class_xbox_ptu_teleop.h>

Classes
struct	TYPE_analog
	struct to define a analog button More...
Public Types
enum	{ MAN_AUTO_STEER = 0, MAN_AUTO_BRAKE = 1, MAN_AUTO_THROTTLE = 2, MAN_AUTO_CLUTCH = 3, _B4 = 4, MAN_AUTO_IGNITION = 5, START = 6, E_STOP = 7, _B8 = 8, _B9 = 9, HIGH_LIGHTS = 10, WARNING_LIGHTS = 11, MEDIUM_LIGHTS = 12, _B13 = 13, STOP = 14 }
	enumerator to describe all digital buttons More...
enum	{ STEERING = 0, _A1 = 1, BRAKE = 2, _A3 = 3, CLUTCH = 4, THROTTLE = 5 }
	enumerator to describe all analog buttons More...
enum	{ MAN_AUTO_STEER = 0, MAN_AUTO_BRAKE = 1, MAN_AUTO_THROTTLE = 2, MAN_AUTO_CLUTCH = 3, _B4 = 4, MAN_AUTO_IGNITION = 5, START = 6, E_STOP = 7, _B8 = 8, _B9 = 9, HIGH_LIGHTS = 10, WARNING_LIGHTS = 11, MEDIUM_LIGHTS = 12, _B13 = 13, STOP = 14 }
	digital buttons at xbox and their function More...
enum	{ STEERING = 0, _A1 = 1, BRAKE = 2, _A3 = 3, CLUTCH = 4, THROTTLE = 5 }
	analog buttons and their functionalities More...
Public Member Functions
	XboxTeleopAtlascar (int num_but, int num_axis)
	constructor
	XboxTeleopAtlascar (int num_but, int num_axis)
	constructor
	~XboxTeleopAtlascar ()
	destructor
	~XboxTeleopAtlascar ()
	destructor
Private Member Functions
void	XboxCallback (const sensor_msgs::Joy::ConstPtr &joy)
	constructor
void	XboxCallback (const sensor_msgs::Joy::ConstPtr &joy)
	callback that is called when a xbox msg is received
Private Attributes
vector< TYPE_analog >	analog
	vector with analog/axis values
ros::Publisher	atlascar_cmd_
	method just to publish the base message
double	b_brake
float	b_brake
double	b_left_ang
float	b_left_ang
double	b_right_ang
float	b_right_ang
double	b_speed
float	b_speed
double	brake_max
double	brake_min
	minimum & maximum brake values
vector< int >	button
	vector with all digital buttons status
double	clutch_max
double	clutch_min
	minimum & maximum clutch values
atlascar_base::AtlascarCommand	command
	struct with the Atlascar Base Command message
ros::Subscriber	joy_sub_
	method to subscribe the gamepad message
double	m_brake
	values to create the linear interpolation
float	m_brake
	line segment slope to calculate whished car speed value
double	m_left_ang
	values to create the linear interpolation
float	m_left_ang
	line segment slope, left side and right side
double	m_right_ang
float	m_right_ang
double	m_speed
	values to create the linear interpolation
float	m_speed
	line segment slope to calculate whished car speed value
ros::NodeHandle	nh_teleop
int	num_axes
int	num_buttons
	variable with number of digital buttons and analog axis
ros::Publisher	ptu_pub
double	speed_max
float	speed_max
double	speed_min
	values to create the linear interpolation
float	speed_min
	car speed limits
double	steering_left_ang
	values to create the linear interpolation
float	steering_left_ang
	limit values for the steering angles
double	steering_max
	minimum & maximum steering angle values
double	steering_min
double	steering_right_ang
float	steering_right_ang
double	throttle_max
double	throttle_min
	minimum & maximum throttle values

Detailed Description

This class simplifies the implementation of a interface between xbox and PTU.

Definition at line 49 of file class_xbox_ptu_teleop.h.

Member Enumeration Documentation

anonymous enum

enumerator to describe all digital buttons

Enumerator:

MAN_AUTO_STEER
MAN_AUTO_BRAKE
MAN_AUTO_THROTTLE
MAN_AUTO_CLUTCH
_B4
MAN_AUTO_IGNITION
START
E_STOP
_B8
_B9
HIGH_LIGHTS
WARNING_LIGHTS
MEDIUM_LIGHTS
_B13
STOP

Definition at line 77 of file class_xbox_ptu_teleop.h.

anonymous enum

enumerator to describe all analog buttons

Enumerator:

STEERING
_A1
BRAKE
_A3
CLUTCH
THROTTLE

Definition at line 81 of file class_xbox_ptu_teleop.h.

anonymous enum

digital buttons at xbox and their function

Enumerator:

MAN_AUTO_STEER
MAN_AUTO_BRAKE
MAN_AUTO_THROTTLE
MAN_AUTO_CLUTCH
_B4
MAN_AUTO_IGNITION
START
E_STOP
_B8
_B9
HIGH_LIGHTS
WARNING_LIGHTS
MEDIUM_LIGHTS
_B13
STOP

Definition at line 83 of file class_xbox_teleop.h.

anonymous enum

analog buttons and their functionalities

Enumerator:

STEERING
_A1
BRAKE
_A3
CLUTCH
THROTTLE

Definition at line 87 of file class_xbox_teleop.h.

Constructor & Destructor Documentation

XboxTeleopAtlascar::XboxTeleopAtlascar	(	int	num_but,
		int	num_axis
	)

constructor

function to initialize the XboxTeleop for the AtlasCAR robot

Parameters:

	num_but	- number of digital buttons in the gamepad
	num_axis	- number of analog buttons or axis
	num_but	- specifies the number of digital buttons that the xbox gamepad have
	num_axis	- specifies the number of analog buttons that the xbox gamepad have

Definition at line 42 of file class_xbox_ptu_teleop.cpp.

XboxTeleopAtlascar::~XboxTeleopAtlascar ( )

destructor

XboxTeleopAtlascar::XboxTeleopAtlascar	(	int	num_but,
		int	num_axis
	)

constructor

Parameters:

	num_but	- number of digital buttons in the gamepad
	num_axis	- number of analog buttons or axis

XboxTeleopAtlascar::~XboxTeleopAtlascar ( )

destructor

Member Function Documentation

void XboxTeleopAtlascar::XboxCallback ( const sensor_msgs::Joy::ConstPtr & joy ) [private]

constructor

void XboxTeleopAtlascar::XboxCallback ( const sensor_msgs::Joy::ConstPtr & joy ) [private]

callback that is called when a xbox msg is received

private method associated to the callback when a new message from the gamepad is received, and construct the message that will be sent to atlascar_base

Parameters: