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refactor: replace speed_mode with max_duty for core control

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Makes it make more sense
This commit is contained in:
David
2025-10-09 16:19:34 -05:00
parent 0e256c7d22
commit ebd07258f0
3 changed files with 21 additions and 30 deletions
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18
src/headless_pkg/src/headless_node.py
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@@ -79,7 +79,7 @@ class Headless(Node):
self.ctrl_mode = "core" # Start in core mode
self.core_brake_mode = False
self.core_speed_mode = 0 # -1 = slow, 0 = walk, 1 = fast
self.core_max_duty = 0.5 # Default max duty cycle (walking speed)
# Rumble when node is ready (returns False if rumble not supported)
self.gamepad.rumble(0.7, 0.8, 150)
@@ -183,23 +183,23 @@ class Headless(Node):
# Brake mode
new_brake_mode = button_a
# Speed mode
# Max duty cycle
if left_bumper:
new_speed_mode = -1
new_max_duty = 0.25
elif right_bumper:
new_speed_mode = 1
new_max_duty = 0.9
else:
new_speed_mode = 0
new_max_duty = 0.5
# Only publish if needed
if new_brake_mode != self.core_brake_mode or new_speed_mode != self.core_speed_mode:
if new_brake_mode != self.core_brake_mode or new_max_duty != self.core_max_duty:
self.core_brake_mode = new_brake_mode
self.core_speed_mode = new_speed_mode
self.core_max_duty = new_max_duty
state_msg = CoreCtrlState()
state_msg.brake_mode = bool(self.core_brake_mode)
state_msg.speed_mode = int(self.core_speed_mode)
state_msg.max_duty = float(self.core_max_duty)
self.core_state_pub_.publish(state_msg)
self.get_logger().info(f"[Core State] Brake: {self.core_brake_mode}, Speed: {self.core_speed_mode}")
self.get_logger().info(f"[Core State] Brake: {self.core_brake_mode}, Max Duty: {self.core_max_duty}")
# ARM and BIO