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feat: (headless) add new control scheme for arm

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David
2026-01-18 18:06:34 -06:00
parent 8f9a2d566d
commit 5f5f6e20ba
1 changed files with 103 additions and 34 deletions
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137
src/headless_pkg/src/headless_node.py
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@@ -118,6 +118,13 @@ class Headless(Node):
CoreCtrlState, "/core/control/state", qos_profile=control_qos CoreCtrlState, "/core/control/state", qos_profile=control_qos
) )
self.declare_parameter('arm_manual_scheme', "old")
self.arm_manual_scheme = self.get_parameter('arm_manual_scheme').value
# Check parameter validity
if self.arm_manual_scheme not in ["old", "new"]:
self.get_logger().warn(f"Invalid value '{self.arm_manual_scheme}' for arm_manual_scheme parameter. Defaulting to 'old' ('24 and '25 controls).")
self.ctrl_mode = "core" # Start in core mode self.ctrl_mode = "core" # Start in core mode
self.core_brake_mode = False self.core_brake_mode = False
self.core_max_duty = 0.5 # Default max duty cycle (walking speed) self.core_max_duty = 0.5 # Default max duty cycle (walking speed)
@@ -257,50 +264,112 @@ class Headless(Node):
right_stick_x = deadzone(self.gamepad.get_axis(3)) right_stick_x = deadzone(self.gamepad.get_axis(3))
right_stick_y = deadzone(self.gamepad.get_axis(4)) right_stick_y = deadzone(self.gamepad.get_axis(4))
right_trigger = deadzone(self.gamepad.get_axis(5)) right_trigger = deadzone(self.gamepad.get_axis(5))
button_a = self.gamepad.get_button(0)
button_b = self.gamepad.get_button(1)
button_x = self.gamepad.get_button(2)
button_y = self.gamepad.get_button(3)
left_bumper = self.gamepad.get_button(4)
right_bumper = self.gamepad.get_button(5) right_bumper = self.gamepad.get_button(5)
dpad_input = self.gamepad.get_hat(0) dpad_input = self.gamepad.get_hat(0)
# EF Grippers if self.arm_manual_scheme == "old":
if left_trigger > 0 and right_trigger > 0: # EF Grippers
arm_input.gripper = 0 if left_trigger > 0 and right_trigger > 0:
elif left_trigger > 0: arm_input.gripper = 0
arm_input.gripper = -1 elif left_trigger > 0:
elif right_trigger > 0: arm_input.gripper = -1
arm_input.gripper = 1 elif right_trigger > 0:
arm_input.gripper = 1
# Axis 0 # Axis 0
if dpad_input[0] == 1: if dpad_input[0] == 1:
arm_input.axis0 = 1 arm_input.axis0 = 1
elif dpad_input[0] == -1: elif dpad_input[0] == -1:
arm_input.axis0 = -1 arm_input.axis0 = -1
if right_bumper: # Control end effector if right_bumper: # Control end effector
# Effector yaw # Effector yaw
if left_stick_x > 0: if left_stick_x > 0:
arm_input.effector_yaw = 1 arm_input.effector_yaw = 1
elif left_stick_x < 0: elif left_stick_x < 0:
arm_input.effector_yaw = -1 arm_input.effector_yaw = -1
# Effector roll # Effector roll
if right_stick_x > 0: if right_stick_x > 0:
arm_input.effector_roll = 1 arm_input.effector_roll = 1
elif right_stick_x < 0: elif right_stick_x < 0:
arm_input.effector_roll = -1
else: # Control arm axis
# Axis 1
if abs(left_stick_x) > 0.15:
arm_input.axis1 = round(left_stick_x)
# Axis 2
if abs(left_stick_y) > 0.15:
arm_input.axis2 = -1 * round(left_stick_y)
# Axis 3
if abs(right_stick_y) > 0.15:
arm_input.axis3 = -1 * round(right_stick_y)
if self.arm_manual_scheme == "new":
# Right stick: EF yaw and axis 3
# Left stick: axis 1 and 2
# D-pad: axis 0 and _
# Triggers: EF grippers
# Bumpers: EF roll
# A: brake
# B: _
# X: _
# Y: linear actuator
# Right stick: EF yaw and axis 3
arm_input.effector_yaw = 0 if right_stick_x == 0 else int(
copysign(1, right_stick_x)
)
arm_input.axis3 = 0 if right_stick_y == 0 else int(
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)
)
arm_input.axis2 = 0 if left_stick_y == 0 else int(
copysign(-1, left_stick_y)
)
# D-pad: axis 0 and _
arm_input.axis0 = 0 if dpad_input[0] == 0 else int(
copysign(1, dpad_input[0])
)
# Triggers: EF Grippers
if left_trigger > 0 and right_trigger > 0:
arm_input.gripper = 0
elif left_trigger > 0:
arm_input.gripper = -1
elif right_trigger > 0:
arm_input.gripper = 1
# Bumpers: EF roll
if left_bumper > 0 and right_bumper > 0:
arm_input.effector_roll = 0
elif left_bumper > 0:
arm_input.effector_roll = -1 arm_input.effector_roll = -1
elif right_bumper > 0:
arm_input.effector_roll = 1
else: # Control arm axis # A: brake
if button_a:
arm_input.brake = True
# Axis 1 # Y: linear actuator
if abs(left_stick_x) > 0.15: if button_y:
arm_input.axis1 = round(left_stick_x) arm_input.linear_actuator = 1
# Axis 2
if abs(left_stick_y) > 0.15:
arm_input.axis2 = -1 * round(left_stick_y)
# Axis 3
if abs(right_stick_y) > 0.15:
arm_input.axis3 = -1 * round(right_stick_y)
# BIO # BIO
bio_input = BioControl( bio_input = BioControl(