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Revision 4c495190

ID4c4951907381f815d37ca13a7226ed4814d1e59a

Added by roboclub about 12 years ago

reduced teleop delay, scout drives forward now

View differences:

scout/scoutsim/CMakeLists.txt
36 36 
#rosbuild_add_executable(turtle_teleop_key tutorials/teleop_turtle_key.cpp)
37 37 
#rosbuild_add_executable(draw_square tutorials/draw_square.cpp)
38 38 
#rosbuild_add_executable(mimic tutorials/mimic.cpp)
39 
#rosbuild_add_executable(scout_teleop src/scout_teleop.cpp)
40 
#rosbuild_add_executable(scout_teleop_userinput src/scout_teleop_userinput.cpp)
39 
rosbuild_add_executable(scout_teleop src/scout_teleop.cpp)
40 
rosbuild_add_executable(scout_teleop_userinput src/scout_teleop_userinput.cpp)
scout/scoutsim/src/scout_teleop.cpp
32 32 
        {
33 33 
            switch(last_key)
34 34 
            {
35 
		// TODO: for some reason negative speeds go forward, not backward
36
35 37 
                case KEYCODE_L:
36 38 
                    //ROS_INFO("LEFT");
37 39 
                    fl_speed = bl_speed = 200;
......
44 46 
                    break;
45 47 
                case KEYCODE_U:
46 48 
                    //ROS_INFO("UP");
47 
                    fl_speed = bl_speed = 200;
48 
                    fr_speed = br_speed = 200;
49 
                    fl_speed = bl_speed = -200;
50 
                    fr_speed = br_speed = -200;
49 51 
                    break;
50 52 
                case KEYCODE_D:
51 53 
                    //ROS_INFO("DOWN");
52 
                    fl_speed = bl_speed = -200;
53 
                    fr_speed = br_speed = -200;
54 
                    fl_speed = bl_speed = 200;
55 
                    fr_speed = br_speed = 200;
54 56 
                    break;
55 57 
                default:
56 58 
                    //don't publish a message yet; no change to key,
scout/scoutsim/src/scout_teleop.h
19 19 
#define KEYCODE_S 0x73
20 20 

  		




  21
  21
  
    
// a second


  		




  22
  
  
    
#define MAX_WAIT_TIME ros::Duration(1, 0)


  		




  
  22
  
    
#define MAX_WAIT_TIME ros::Duration(0.5)


  		




  23
  23
  
    

  		




  24
  24
  
    
class TeleopScout


  		




  25
  25
  
    
{


  		












  

    
      scout/scoutsim/src/scout_teleop_userinput.cpp
    
  





  22
  22
  
    
{


  		




  23
  23
  
    
    // reset console mode to no longer be raw


  		




  24
  24
  
    
    tcsetattr(kfd, TCSANOW, &cooked);


  		




  25
  
  
    
    return;


  		




  
  25
  
    
    ros::shutdown();


  		




  
  26
  
    
    exit(0);


  		




  26
  27
  
    
}


  		




  27
  28
  
    

  		




  28
  29
  
    
void TeleopInput::keyLoop()


  		




  ......




  56
  57
  
    
{


  		




  57
  58
  
    
    ros::init(argc, argv, "scout_teleop_userinput");


  		




  58
  59
  
    
    TeleopInput teleop_input = TeleopInput("scout1");


  		




  
  60
  
    
    //signal(SIGINT,quit);


  		




  59
  61
  
    
    teleop_input.keyLoop();


  		




  60
  62
  
    

  		




  61
  63
  
    
    return(0);


  		












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