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feat: (headless) add env var to configure stick deadzone

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David
2026-01-18 23:54:06 -06:00
parent 7ed2e15908
commit 213105a46b
1 changed files with 4 additions and 2 deletions
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6
src/headless_pkg/src/headless_node.py
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@@ -47,6 +47,8 @@ control_qos = qos.QoSProfile(
CORE_MODE = "twist" # "twist" or "duty" CORE_MODE = "twist" # "twist" or "duty"
STICK_DEADZONE = float(os.getenv("STICK_DEADZONE", "0.05"))
class Headless(Node): class Headless(Node):
def __init__(self): def __init__(self):
@@ -385,7 +387,7 @@ class Headless(Node):
self.arm_publisher.publish(arm_input) self.arm_publisher.publish(arm_input)
def deadzone(value: float, threshold=0.05) -> float: def deadzone(value: float, threshold=STICK_DEADZONE) -> float:
"""Apply a deadzone to a joystick input so the motors don't sound angry""" """Apply a deadzone to a joystick input so the motors don't sound angry"""
if abs(value) < threshold: if abs(value) < threshold:
return 0 return 0
@@ -419,7 +421,7 @@ def main(args=None):
except (KeyboardInterrupt, ExternalShutdownException): except (KeyboardInterrupt, ExternalShutdownException):
print("Caught shutdown signal. Exiting...") print("Caught shutdown signal. Exiting...")
finally: finally:
rclpy.shutdown() rclpy.try_shutdown()
if __name__ == "__main__": if __name__ == "__main__":