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fix: (headless) make new arm controls useable

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David
2026-01-28 00:10:07 -06:00
parent caa5a637bb
commit 51d0e747ad
2 changed files with 7 additions and 5 deletions
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2
src/astra_descriptions

Submodule src/astra_descriptions updated: 078ec913d7...add9e47469

10
src/headless_pkg/src/headless_node.py
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@@ -358,20 +358,22 @@ class Headless(Node):
# X: _
# Y: linear actuator
ARM_THRESHOLD = 0.2
# Right stick: EF yaw and axis 3
arm_input.effector_yaw = (
0 if right_stick_x == 0 else int(copysign(1, right_stick_x))
0 if abs(right_stick_x) < ARM_THRESHOLD else int(copysign(1, right_stick_x))
)
arm_input.axis3 = (
0 if right_stick_y == 0 else int(copysign(-1, right_stick_y))
0 if abs(right_stick_y) < ARM_THRESHOLD else int(-1 * copysign(1, right_stick_y))
)
# Left stick: axis 1 and 2
arm_input.axis1 = (
0 if left_stick_x == 0 else int(copysign(1, left_stick_x))
0 if abs(left_stick_x) < ARM_THRESHOLD else int(copysign(1, left_stick_x))
)
arm_input.axis2 = (
0 if left_stick_y == 0 else int(copysign(-1, left_stick_y))
0 if abs(left_stick_y) < ARM_THRESHOLD else int(-1 * copysign(1, left_stick_y))
)
# D-pad: axis 0 and _