Revision dd56aeef
| ID | dd56aeefcc3c23a50cecd40450abfc1ac8e50f62 |
Added ncurses for key input. It can now publish at a rapid rate because
the key input is non-blocking, and after it exits the terminal is not
screwy, but it's not an ideal solution because ROS_INFO no longer works.
Encapsulated the stuff in nav_lib into a class, MikrokopterControl.
| mikrokopter/src/nav_lib.cpp | ||
|---|---|---|
| 1 | 1 |
#include "nav_lib.h" |
| 2 | 2 |
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| 3 | 3 |
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| 4 |
void init_control_msg(mikrokopter::Control& req)
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MikrokopterControl::MikrokopterControl()
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{
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req.digital[0] = 0;
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req.digital[1] = 0;
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req.remoteKey = 0;
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req.pitch = 0;
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req.roll = 0;
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req.yaw = 0;
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req.thrust = 40;
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req.height = 0;
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req.free = 0;
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req.frame = 7;
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req.config = 1;
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control.digital[0] = 0;
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control.digital[1] = 0;
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control.remoteKey = 0;
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control.pitch = 0;
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control.roll = 0;
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control.yaw = 0;
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control.thrust = 40;
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control.height = 0;
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control.free = 0;
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control.frame = 7;
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control.config = 1;
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| 17 | 17 |
} |
| 18 | 18 |
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void forward(mikrokopter::Control& req)
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void MikrokopterControl::forward()
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| 20 | 20 |
{
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req.roll = -15;
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req.pitch = -15;
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control.roll = -15;
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control.pitch = -15;
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| 23 | 23 |
} |
| 24 | 24 |
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void backward(mikrokopter::Control& req)
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void MikrokopterControl::backward()
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| 26 | 26 |
{
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req.roll = 15;
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req.pitch = 15;
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control.roll = 15;
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control.pitch = 15;
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| 29 | 29 |
} |
| 30 | 30 |
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void left(mikrokopter::Control& req)
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void MikrokopterControl::left()
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| 32 | 32 |
{
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req.roll = -15;
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req.pitch = 15;
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control.roll = -15;
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control.pitch = 15;
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| 35 | 35 |
} |
| 36 | 36 |
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void right(mikrokopter::Control& req)
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void MikrokopterControl::right()
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| 38 | 38 |
{
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req.roll = 15;
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req.pitch = -15;
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control.roll = 15;
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control.pitch = -15;
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| 41 | 41 |
} |
| 42 | 42 |
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void set_thrust(mikrokopter::Control& req, int thrust)
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void MikrokopterControl::set_thrust(int thrust)
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| 44 | 44 |
{
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req.thrust = thrust; |
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control.thrust = thrust; |
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} |
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void MikrokopterControl::publish_on(ros::Publisher& pub) |
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{
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pub.publish(control); |
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| 46 | 51 |
} |
| 47 | 52 |
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