Merge pull request #12 from purduerov/Joystick_Control

Joystick control

ros/gamepad/src/config.py

@@ -1,61 +1,91 @@
 MIN_ABS_DIFFERENCE = 0
 # New ranges for the triggers and sticks (Probably need to adjust these values)
-TRIGGER_DEAD_ZONE = 0.09
-TRIGGER_RANGE = 1.0
 STICK_DEAD_ZONE = 0.09
-STICK_RANGE = 1.0
-
-# Mapping of JoyAxisMotion events to gamepad_state keys
-# The number is the axis given by pygame
-JOY_AXIS = {1: "LSY", 0: "LSX", 4: "RSY", 3: "RSX", 2: "LT", 5: "RT"}
-
-# Mapping of JoyButton events to gamepad_state keys
-# The number is the button given by pygame
-JOY_BUTTON = {
-    3: "Y",
-    1: "B",
-    0: "A",
-    2: "X",
-    9: "LSZ",
-    10: "RSZ",
-    4: "LB",
-    5: "RB",
-    8: "XBOX",
-    6: "START",
-    7: "MENU",
+AXIS_RANGE = 1.0
+# Scale factors for the translational and rotational axes
+SCALE_TRANSLATIONAL_X = 1.0
+SCALE_TRANSLATIONAL_Y = 1.0
+SCALE_TRANSLATIONAL_Z = 1.0
+SCALE_ROTATIONAL_X = 1.0
+SCALE_ROTATIONAL_Y = 1.0
+SCALE_ROTATIONAL_Z = 1.0
+# Trim values for the translational axes
+# Values are added to the translational axis values after scaling
+TRIM_X = 0.0
+TRIM_Y = 0.0
+TRIM_Z = 0.0
+
+GAMEPAD_TIMEOUT = 20 # seconds
+
+JOYSTICK_NAME = "Thrustmaster T.16000M"
+THROTTLE_NAME = "Thrustmaster TWCS Throttle"
+
+# Store the states of the throttle axies
+throttle_axis_state = {
+    0: 0.0, # throttle back joystick x axis (left-to-right)
+    1: 0.0, # throttle back joystick y axis (up-and-down)
+    2: 0.0, # throttle slide 
+    3: 0.0, # unknown
+    4: 0.0, # unknown
+    5: 0.0, # throttle back paddle
+    6: 0.0, # unknown
+    7: 0.0 # throttle left slider
+}
+
+# Store the states of the throttle buttons
+throttle_button_state = {
+    0: 0, # throttle right bottom (orange) button
+    1: 0, # throttle back left (orange) button
+    2: 0, # throttle back right (orange) button
+    3: 0, # throttle back right rocker button up
+    4: 0, # throttle back right rocker button down
+    5: 0, # throttle back joystick button
+    6: 0, # throttle right middle button up
+    7: 0, # throttle right middle button forward
+    8: 0, # throttle right middle button down
+    9: 0, # throttle right middle button back
+    10: 0, # throttle right bottm button up
+    11: 0, # throttle right bottom button forward
+    12: 0, # throttle right bottom button down
+    13: 0 # throttle right bottom button back
 }
-JOY_BUTTON_KEY = {
-    "Y": 3,
-    "B": 1,
-    "A": 0,
-    "X": 2,
-    "LSZ": 9,
-    "RSZ": 10,
-    "LB": 4,
-    "RB": 5,
-    "XBOX": 8,
-    "START": 6,
-    "MENU": 7,
+
+# Store the state of throttle hats
+throttle_hat_state = { 
+    0: 0, # throttle hat (right top button) front-to-back (left-to-right)
+    1: 0  # throttle hat (right top button) up-and-down
+}
+
+# Store the states of the joystick axes
+joystick_axis_state = {
+    0: 0.0, # joystick y axis movement (left-to-right)
+    1: 0.0, # joystick x axis movement (front-to-back)
+    2: 0.0, # joystick yaw movement (twist)
+    3: 0.0 # bottom controller slider
+}
+
+# Store the states of the joystick buttons
+joystick_button_state = {
+    0: 0, # joystick trigger
+    1: 0, # joystick top bottom button
+    2: 0, # joystick top left button
+    3: 0, # joystick top right button
+    4: 0, # joystick left top left button
+    5: 0, # joystick left top middle button
+    6: 0, # joystick left top right button
+    7: 0, # joystick left bottom right button
+    8: 0, # joystick left bottom middle button
+    9: 0, # joystick left bottom left button
+    10: 0, # joystick right top right button
+    11: 0, # joystick right top middle button
+    12: 0, # joystick right top left button
+    13: 0, # joystick right bottom left button
+    14: 0, # joystick right bottom middle button
+    15: 0 # joystick right bottom right button
 }
 
-gamepad_state = {
-    "LSX": 0.0,
-    "LSY": 0.0,
-    "RSX": 0.0,
-    "RSY": 0.0,
-    "LT": -1.0,
-    "RT": -1.0,
-    "DPADX": 0,
-    "DPADY": 0,
-    "Y": 0,
-    "B": 0,
-    "A": 0,
-    "X": 0,
-    "LSZ": 0,
-    "RSZ": 0,
-    "LB": 0,
-    "RB": 0,
-    "XBOX": 0,
-    "START": 0,
-    "MENU": 0,
+# Stores the states of the joystick hats
+joystick_hat_state = {
+    0: 0, # joystick hat y axis position (left-to-right)
+    1: 0 # joystick hat x axis position (front-to-back)
 }