From 51d0e747ada6a81c9152c7987cb796c4d6b8ee42 Mon Sep 17 00:00:00 2001 From: David Date: Wed, 28 Jan 2026 00:10:07 -0600 Subject: [PATCH] fix: (headless) make new arm controls useable --- src/astra_descriptions | 2 +- src/headless_pkg/src/headless_node.py | 10 ++++++---- 2 files changed, 7 insertions(+), 5 deletions(-) diff --git a/src/astra_descriptions b/src/astra_descriptions index 078ec91..add9e47 160000 --- a/src/astra_descriptions +++ b/src/astra_descriptions @@ -1 +1 @@ -Subproject commit 078ec913d7dcb96b936c42a17dd1d5f9f167e111 +Subproject commit add9e47469f5f29fdbe99a8bbad4bc4c145c6efe diff --git a/src/headless_pkg/src/headless_node.py b/src/headless_pkg/src/headless_node.py index 7228afc..1cc3e5e 100755 --- a/src/headless_pkg/src/headless_node.py +++ b/src/headless_pkg/src/headless_node.py @@ -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 _