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Update arm_headless.py, remove read_feedback()

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Tristan McGinnis
2025-05-30 19:48:41 -06:00
committed by GitHub
parent 48b0f7e1f9
commit a700fd546c
1 changed files with 4 additions and 20 deletions
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24
src/arm_pkg/arm_pkg/arm_headless.py
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@@ -42,7 +42,7 @@ class Headless(Node):
# Depricated, kept temporarily for reference # Depricated, kept temporarily for reference
#self.subscriber = self.create_subscription(String, '/astra/arm/feedback', self.read_feedback, 10) #self.subscriber = self.create_subscription(String, '/astra/arm/feedback', self.read_feedback, 10)
self.debug_sub = self.create_subscription(String, '/arm/feedback/debug', self.read_feedback, 10) #self.debug_sub = self.create_subscription(String, '/arm/feedback/debug', self.read_feedback, 10)
self.laser_status = 0 self.laser_status = 0
@@ -81,14 +81,14 @@ class Headless(Node):
while rclpy.ok(): while rclpy.ok():
#Check the pico for updates #Check the pico for updates
self.read_feedback() #self.read_feedback()
if pygame.joystick.get_count() == 0: #if controller disconnected, wait for it to be reconnected if pygame.joystick.get_count() == 0: #if controller disconnected, wait for it to be reconnected
print(f"Gamepad disconnected: {self.gamepad.get_name()}") print(f"Gamepad disconnected: {self.gamepad.get_name()}")
while pygame.joystick.get_count() == 0: while pygame.joystick.get_count() == 0:
#self.send_controls() #depricated, kept for reference temporarily #self.send_controls() #depricated, kept for reference temporarily
self.send_manual() self.send_manual()
self.read_feedback() #self.read_feedback()
self.gamepad = pygame.joystick.Joystick(0) self.gamepad = pygame.joystick.Joystick(0)
self.gamepad.init() #re-initialized gamepad self.gamepad.init() #re-initialized gamepad
print(f"Gamepad reconnected: {self.gamepad.get_name()}") print(f"Gamepad reconnected: {self.gamepad.get_name()}")
@@ -142,7 +142,7 @@ class Headless(Node):
input.axis0 = -1 input.axis0 = -1
if self.gamepad.get_axis(0) > .15 or self.gamepad.get_axis(0) < -.15: if self.gamepad.get_axis(0) > .15 or self.gamepad.get_axis(0) < -.15:
input.axis1 = -1 * round(self.gamepad.get_axis(0)) input.axis1 = round(self.gamepad.get_axis(0))
if self.gamepad.get_axis(1) > .15 or self.gamepad.get_axis(1) < -.15: if self.gamepad.get_axis(1) > .15 or self.gamepad.get_axis(1) < -.15:
input.axis2 = -1 * round(self.gamepad.get_axis(1)) input.axis2 = -1 * round(self.gamepad.get_axis(1))
@@ -271,22 +271,6 @@ class Headless(Node):
def read_feedback(self, msg):
# Create a string message object
#msg = String()
# Set message data
#msg.data = output
# Publish data
#self.publisher.publish(msg.data)
print(f"[MCU] {msg.data}", end="")
#print(f"[Pico] Publishing: {msg}")
def main(args=None): def main(args=None):
rclpy.init(args=args) rclpy.init(args=args)