Revision 493cca7c
| ID | 493cca7c321081c9bdcb1cf72714506ef1310954 |
basic (not-yet-working) flight control via keyboard
| mikrokopter/src/keyboard_control.cpp | ||
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#include <termios.h> |
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#include <stdio.h> |
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#include "nav_lib.h" |
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#define KEYCODE_R 0x43 |
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#define KEYCODE_L 0x44 |
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#define KEYCODE_U 0x41 |
| ... | ... | |
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void KeyboardControl::keyLoop() |
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{
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ros::NodeHandle n; |
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ros::Publisher pub = n.advertise<mikrokopter::Control>("/mikrokopter/req_set_control", 100);
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mikrokopter::Control req; |
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ros::Rate loop_rate(25); |
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char c; |
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bool dirty=false; |
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|
| ... | ... | |
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{
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case KEYCODE_L: |
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case 'a': |
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ROS_INFO("W");
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ROS_INFO("A");
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left(req); |
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dirty = true; |
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break; |
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case KEYCODE_R: |
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case 'd': |
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ROS_INFO("E");
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ROS_INFO("D");
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right(req); |
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dirty = true; |
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break; |
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case KEYCODE_U: |
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case 'w': |
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ROS_INFO("N");
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ROS_INFO("W");
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forward(req); |
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dirty = true; |
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break; |
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case KEYCODE_D: |
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case 's': |
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ROS_INFO("S");
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ROS_INFO("B");
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backward(req); |
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dirty = true; |
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break; |
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case 'r': |
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ROS_INFO("UP");
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//set_throttle(&pub, ); |
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break; |
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case 'f': |
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ROS_INFO("DOWN");
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//set_throttle(&pub); |
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break; |
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} |
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if(dirty) |
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{
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pub.publish(req); |
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ros::spinOnce(); |
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dirty=false; |
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} |
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} |
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