Revision d58012b5
| ID | d58012b5c30fd42d945aed8a30192ec5b4dcd9dc |
fixing forwards/backwards, adding level function
| mikrokopter/src/keyboard_control.cpp | ||
|---|---|---|
| 86 | 86 |
ROS_INFO("B");
|
| 87 | 87 |
control.backward(); |
| 88 | 88 |
break; |
| 89 |
case ' ': |
|
| 90 |
ROS_INFO("space");
|
|
| 91 |
control.level(); |
|
| 92 |
break; |
|
| 89 | 93 |
case 'r': |
| 90 | 94 |
ROS_INFO("UP");
|
| 91 | 95 |
//set_throttle(&pub, ); |
| mikrokopter/src/nav_lib.cpp | ||
|---|---|---|
| 18 | 18 |
|
| 19 | 19 |
void MikrokopterControl::forward() |
| 20 | 20 |
{
|
| 21 |
control.roll = 15; |
|
| 22 |
control.pitch = 15; |
|
| 23 |
} |
|
| 24 |
|
|
| 25 |
void MikrokopterControl::backward() |
|
| 26 |
{
|
|
| 21 | 27 |
control.roll = -15; |
| 22 | 28 |
control.pitch = -15; |
| 23 | 29 |
} |
| 24 | 30 |
|
| 25 |
void MikrokopterControl::backward()
|
|
| 31 |
void MikrokopterControl::left()
|
|
| 26 | 32 |
{
|
| 27 | 33 |
control.roll = 15; |
| 28 |
control.pitch = 15; |
|
| 34 |
control.pitch = -15;
|
|
| 29 | 35 |
} |
| 30 | 36 |
|
| 31 |
void MikrokopterControl::left()
|
|
| 37 |
void MikrokopterControl::right()
|
|
| 32 | 38 |
{
|
| 33 | 39 |
control.roll = -15; |
| 34 | 40 |
control.pitch = 15; |
| 35 | 41 |
} |
| 36 | 42 |
|
| 37 |
void MikrokopterControl::right()
|
|
| 43 |
void MikrokopterControl::level()
|
|
| 38 | 44 |
{
|
| 39 |
control.roll = 15;
|
|
| 40 |
control.pitch = -15;
|
|
| 45 |
control.roll = 0;
|
|
| 46 |
control.pitch = 0;
|
|
| 41 | 47 |
} |
| 42 | 48 |
|
| 43 | 49 |
void MikrokopterControl::set_thrust(int thrust) |
| mikrokopter/src/nav_lib.h | ||
|---|---|---|
| 8 | 8 |
void backward(); |
| 9 | 9 |
void left(); |
| 10 | 10 |
void right(); |
| 11 |
void level(); |
|
| 11 | 12 |
void set_thrust(int thrust); |
| 12 | 13 |
void publish_on(ros::Publisher& pub); |
| 13 | 14 |
private: |
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