class_xbox_ptu_teleop.cpp

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#include <atlascar_teleop/class_xbox_teleop.h>


XboxTeleopAtlascar::XboxTeleopAtlascar(int num_but, int num_axis)
{
        num_buttons = num_but;
        num_axes = num_axis;

        button.resize(num_but);
        analog.resize(num_axes);
        
        steering_left_ang = 25.;
        steering_right_ang = 22.;


        m_left_ang = steering_left_ang;
        m_right_ang = steering_right_ang;

        b_left_ang = 0.0;
        b_right_ang = 0.0;

        speed_min = 0.0;
        speed_max = 1.0;

        m_speed = -(speed_max-speed_min)/2;
        b_speed = 0.5;
        
        m_brake = -0.5;
        b_brake = 0.5;

        for(uint i=0;i<button.size(); i++)
        {
                button[i] = 0;
        }
        
        for(uint i=0;i<analog.size(); i++)
        {
                analog[i].toggled = 0;
        }

        analog[BRAKE].val = 1.0;
        analog[THROTTLE].val = 1.0;
        analog[STEERING].val = 0.0;
        analog[CLUTCH].val = 0.0;

        atlascar_cmd_ = nh_teleop.advertise<atlascar_base::AtlascarCommand>("/cmd_out", 1);
        joy_sub_ = nh_teleop.subscribe<sensor_msgs::Joy>("/joy", 10, &XboxTeleopAtlascar::XboxCallback, this);

};

void XboxTeleopAtlascar::XboxCallback(const sensor_msgs::Joy::ConstPtr& joy)
{
        

        //for the digital  buttons
        for(int i=0; i<num_buttons; i++)
        {
                if(     joy->buttons[i])
                {
                        button[i] = !button[i];
                }
        }
        //for the analog  buttons
        for(int i=0; i<num_axes; i++)
        {
                if(!analog[i].toggled && ( fabs(joy->axes[i]) > 0.005 ))
                        analog[i].toggled = 1;

                if( fabs(analog[i].val -joy->axes[i]) > 0.005 && analog[i].toggled)
                {
                        analog[i].val = joy->axes[i];
                }
        } 

        command.auto_brake = button[MAN_AUTO_BRAKE];
        command.auto_clutch = button[MAN_AUTO_CLUTCH];
        command.auto_direction = button[MAN_AUTO_STEER];
        command.auto_throttle = button[MAN_AUTO_THROTTLE];
        command.auto_ignition = button[MAN_AUTO_IGNITION];
        
        command.emergency = button[E_STOP];
        command.lights_high = button[HIGH_LIGHTS];
        command.lights_medium = button[MEDIUM_LIGHTS];
        command.lights_minimum = button[MEDIUM_LIGHTS];
        command.ignition = button[START];
        if(button[STOP])
        {
                button[START]=0;
                command.ignition = 0;
        }

        if(analog[STEERING].val>0)
                command.steering_wheel = analog[STEERING].val*m_right_ang + b_right_ang;
        else if(analog[STEERING].val<0)
        {
                command.steering_wheel = analog[STEERING].val*m_left_ang + b_left_ang;
        }
        
        if(analog[CLUTCH].val>0)
        {
                command.clutch = analog[CLUTCH].val;
        }else
                command.clutch = 0.0;
                
        
        command.brake = analog[BRAKE].val*m_brake+b_brake;
        command.throttle = analog[THROTTLE].val*m_speed + b_speed;
        command.speed = 0.0;
        command.direct_control = 1;

        atlascar_cmd_.publish(command);

};