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refactor: (headless) reorganize send_controls() into different functions

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This commit is contained in:
David Sharpe
2026-03-08 01:08:17 -06:00
parent 6fa47021fc
commit 9c9d3d675e
1 changed files with 97 additions and 67 deletions
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164
src/headless_pkg/src/headless_node.py
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@@ -207,6 +207,14 @@ class Headless(Node):
# Rumble when node is ready (returns False if rumble not supported) # Rumble when node is ready (returns False if rumble not supported)
self.gamepad.rumble(0.7, 0.8, 150) self.gamepad.rumble(0.7, 0.8, 150)
def stop_all(self):
if self.use_old_topics:
self.core_publisher.publish(CORE_STOP_MSG)
self.arm_publisher.publish(ARM_STOP_MSG)
self.bio_publisher.publish(BIO_STOP_MSG)
else:
self.core_twist_pub_.publish(CORE_STOP_TWIST_MSG)
def send_controls(self): def send_controls(self):
"""Read the gamepad state and publish control messages""" """Read the gamepad state and publish control messages"""
for event in pygame.event.get(): for event in pygame.event.get():
@@ -217,10 +225,8 @@ class Headless(Node):
# Check if controller is still connected # Check if controller is still connected
if pygame.joystick.get_count() != self.num_gamepads: if pygame.joystick.get_count() != self.num_gamepads:
print("Gamepad disconnected. Exiting...") print("Gamepad disconnected. Exiting...")
# Send one last zero control message # Stop the rover if controller disconnected
self.core_publisher.publish(CORE_STOP_MSG) self.stop_all()
self.arm_publisher.publish(ARM_STOP_MSG)
self.bio_publisher.publish(BIO_STOP_MSG)
self.get_logger().info("Final stop commands sent. Shutting down.") self.get_logger().info("Final stop commands sent. Shutting down.")
# Clean up # Clean up
pygame.quit() pygame.quit()
@@ -236,23 +242,42 @@ class Headless(Node):
new_ctrl_mode = "core" new_ctrl_mode = "core"
if new_ctrl_mode != self.ctrl_mode: if new_ctrl_mode != self.ctrl_mode:
self.core_publisher.publish(CORE_STOP_MSG) self.stop_all()
self.arm_publisher.publish(ARM_STOP_MSG)
self.bio_publisher.publish(BIO_STOP_MSG)
self.gamepad.rumble(0.6, 0.7, 75) self.gamepad.rumble(0.6, 0.7, 75)
self.ctrl_mode = new_ctrl_mode self.ctrl_mode = new_ctrl_mode
self.get_logger().info(f"Switched to {self.ctrl_mode} control mode") self.get_logger().info(f"Switched to {self.ctrl_mode} control mode")
# CORE # Actually send the controls
if self.ctrl_mode == "core" and self.use_old_topics: if self.ctrl_mode == "core":
self.send_core()
if self.use_old_topics:
self.arm_publisher.publish(ARM_STOP_MSG)
else:
self.send_arm()
# self.send_bio()
if self.use_old_topics:
self.core_publisher.publish(CORE_STOP_MSG)
def send_core(self):
# Collect controller state
left_stick_x = deadzone(self.gamepad.get_axis(0))
left_stick_y = deadzone(self.gamepad.get_axis(1))
left_trigger = deadzone(self.gamepad.get_axis(2))
right_stick_x = deadzone(self.gamepad.get_axis(3))
right_stick_y = deadzone(self.gamepad.get_axis(4))
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)
dpad_input = self.gamepad.get_hat(0)
if self.use_old_topics:
input = CoreControl() input = CoreControl()
input.max_speed = 90 input.max_speed = 90
# Collect controller state
left_stick_y = deadzone(self.gamepad.get_axis(1))
right_stick_y = deadzone(self.gamepad.get_axis(4))
right_trigger = deadzone(self.gamepad.get_axis(5))
# Right wheels # Right wheels
input.right_stick = float(round(-1 * right_stick_y, 2)) input.right_stick = float(round(-1 * right_stick_y, 2))
@@ -268,16 +293,9 @@ class Headless(Node):
self.core_publisher.publish(input) self.core_publisher.publish(input)
elif self.ctrl_mode == "core" and not self.use_old_topics: else: # New topics
input = Twist() input = Twist()
# Collect controller state
left_stick_y = deadzone(self.gamepad.get_axis(1))
right_stick_x = deadzone(self.gamepad.get_axis(3))
button_a = self.gamepad.get_button(0)
left_bumper = self.gamepad.get_button(4)
right_bumper = self.gamepad.get_button(5)
# Forward/back and Turn # Forward/back and Turn
input.linear.x = -1.0 * left_stick_y input.linear.x = -1.0 * left_stick_y
input.angular.z = -1.0 * copysign( input.angular.z = -1.0 * copysign(
@@ -310,30 +328,33 @@ class Headless(Node):
state_msg = CoreCtrlState() state_msg = CoreCtrlState()
state_msg.brake_mode = bool(self.core_brake_mode) state_msg.brake_mode = bool(self.core_brake_mode)
state_msg.max_duty = float(self.core_max_duty) state_msg.max_duty = float(self.core_max_duty)
self.core_state_pub_.publish(state_msg) self.core_state_pub_.publish(state_msg)
self.get_logger().info( self.get_logger().info(
f"[Core State] Brake: {self.core_brake_mode}, Max Duty: {self.core_max_duty}" f"[Core State] Brake: {self.core_brake_mode}, Max Duty: {self.core_max_duty}"
) )
# ARM and BIO def send_arm(self):
if self.ctrl_mode == "arm" and self.arm_mode == "manual": # Collect controller state
left_stick_x = deadzone(self.gamepad.get_axis(0))
left_stick_y = deadzone(self.gamepad.get_axis(1))
left_trigger = deadzone(self.gamepad.get_axis(2))
right_stick_x = deadzone(self.gamepad.get_axis(3))
right_stick_y = deadzone(self.gamepad.get_axis(4))
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)
dpad_input = self.gamepad.get_hat(0)
# OLD MANUAL
if self.arm_mode == "manual" and self.use_old_topics:
arm_input = ArmManual() arm_input = ArmManual()
# Collect controller state # OLD ARM CONTROL SCHEME
left_stick_x = deadzone(self.gamepad.get_axis(0))
left_stick_y = deadzone(self.gamepad.get_axis(1))
left_trigger = deadzone(self.gamepad.get_axis(2))
right_stick_x = deadzone(self.gamepad.get_axis(3))
right_stick_y = deadzone(self.gamepad.get_axis(4))
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)
dpad_input = self.gamepad.get_hat(0)
if self.arm_manual_scheme == "old": if self.arm_manual_scheme == "old":
# EF Grippers # EF Grippers
if left_trigger > 0 and right_trigger > 0: if left_trigger > 0 and right_trigger > 0:
@@ -377,6 +398,7 @@ class Headless(Node):
if abs(right_stick_y) > 0.15: if abs(right_stick_y) > 0.15:
arm_input.axis3 = -1 * round(right_stick_y) arm_input.axis3 = -1 * round(right_stick_y)
# NEW ARM CONTROL SCHEME
if self.arm_manual_scheme == "new": if self.arm_manual_scheme == "new":
# Right stick: EF yaw and axis 3 # Right stick: EF yaw and axis 3
# Left stick: axis 1 and 2 # Left stick: axis 1 and 2
@@ -439,21 +461,14 @@ class Headless(Node):
else: else:
arm_input.linear_actuator = 0 arm_input.linear_actuator = 0
# BIO
bio_input = BioControl(
bio_arm=int(left_stick_y * -100),
drill_arm=int(round(right_stick_y) * -100),
)
# Drill motor (FAERIE)
if deadzone(left_trigger) > 0 or deadzone(right_trigger) > 0:
bio_input.drill = int(
30 * (right_trigger - left_trigger)
) # Max duty cycle 30%
self.arm_publisher.publish(arm_input) self.arm_publisher.publish(arm_input)
if self.ctrl_mode == "arm" and self.arm_mode == "ik": # NEW MANUAL
elif self.arm_mode == "manual" and not self.use_old_topics:
pass
# IK
elif self.arm_mode == "ik":
arm_twist = TwistStamped() arm_twist = TwistStamped()
arm_twist.header.frame_id = "base_link" arm_twist.header.frame_id = "base_link"
arm_twist.header.stamp = self.get_clock().now().to_msg() arm_twist.header.stamp = self.get_clock().now().to_msg()
@@ -461,21 +476,6 @@ class Headless(Node):
arm_jointjog.header.frame_id = "base_link" arm_jointjog.header.frame_id = "base_link"
arm_jointjog.header.stamp = self.get_clock().now().to_msg() arm_jointjog.header.stamp = self.get_clock().now().to_msg()
# Collect controller state
left_stick_x = deadzone(self.gamepad.get_axis(0))
left_stick_y = deadzone(self.gamepad.get_axis(1))
left_trigger = deadzone(self.gamepad.get_axis(2))
right_stick_x = deadzone(self.gamepad.get_axis(3))
right_stick_y = deadzone(self.gamepad.get_axis(4))
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)
dpad_input = self.gamepad.get_hat(0)
# Right stick: linear y and linear x # Right stick: linear y and linear x
# Left stick: angular z and linear z # Left stick: angular z and linear z
# D-pad: angular y and _ # D-pad: angular y and _
@@ -516,6 +516,36 @@ class Headless(Node):
self.arm_ik_twist_publisher.publish(arm_twist) self.arm_ik_twist_publisher.publish(arm_twist)
# self.arm_ik_jointjog_publisher.publish(arm_jointjog) # TODO: Figure this shit out # self.arm_ik_jointjog_publisher.publish(arm_jointjog) # TODO: Figure this shit out
def send_bio(self):
# Collect controller state
left_stick_x = deadzone(self.gamepad.get_axis(0))
left_stick_y = deadzone(self.gamepad.get_axis(1))
left_trigger = deadzone(self.gamepad.get_axis(2))
right_stick_x = deadzone(self.gamepad.get_axis(3))
right_stick_y = deadzone(self.gamepad.get_axis(4))
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)
dpad_input = self.gamepad.get_hat(0)
if self.use_old_topics:
bio_input = BioControl(
bio_arm=int(left_stick_y * -100),
drill_arm=int(round(right_stick_y) * -100),
)
# Drill motor (FAERIE)
if deadzone(left_trigger) > 0 or deadzone(right_trigger) > 0:
bio_input.drill = int(
30 * (right_trigger - left_trigger)
) # Max duty cycle 30%
self.bio_publisher.publish(bio_input)
def deadzone(value: float, threshold=STICK_DEADZONE) -> float: def deadzone(value: float, threshold=STICK_DEADZONE) -> float:
"""Apply a deadzone to a joystick input so the motors don't sound angry""" """Apply a deadzone to a joystick input so the motors don't sound angry"""