From 647ff34fa52e1fc7cd189ac609aeea48564c9378 Mon Sep 17 00:00:00 2001 From: David Date: Mon, 29 Sep 2025 09:16:43 -0500 Subject: [PATCH] feat: add rumble on headless mode switch (core/arm) --- src/headless_pkg/src/headless_node.py | 10 ++++++++-- 1 file changed, 8 insertions(+), 2 deletions(-) diff --git a/src/headless_pkg/src/headless_node.py b/src/headless_pkg/src/headless_node.py index 7616131..0d09cf5 100755 --- a/src/headless_pkg/src/headless_node.py +++ b/src/headless_pkg/src/headless_node.py @@ -133,13 +133,19 @@ class Headless(Node): global ctrl_mode + new_ctrl_mode = ctrl_mode # if "" then inequality will always be true # Check for control mode change dpad_input = self.gamepad.get_hat(0) if dpad_input[1] == 1: - ctrl_mode = "arm" + new_ctrl_mode = "arm" elif dpad_input[1] == -1: - ctrl_mode = "core" + new_ctrl_mode = "core" + + if new_ctrl_mode != ctrl_mode: + self.gamepad.rumble(0.5, 0.5, 100) + ctrl_mode = new_ctrl_mode + self.get_logger().info(f"Switched to {ctrl_mode} control mode") # CORE