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feat: add rumble on headless mode switch (core/arm)

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David
2025-09-29 09:16:43 -05:00
parent 75d1a841bb
commit 647ff34fa5
1 changed files with 8 additions and 2 deletions
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10
src/headless_pkg/src/headless_node.py
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@@ -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