ControllerTeleop Class Reference

Controls the robot physically via manual and autonomous commands using various controllers. More...

Inheritance diagram for ControllerTeleop:

Collaboration diagram for ControllerTeleop:

Public Member Functions
	ControllerTeleop ()

Private Member Functions
void	declare_and_get_parameters ()
	Declares and retrieves controller mode parameters. More...
void	apply_controller_mode ()
	Applies the correct controller mode based on parameters. More...
void	control_robot ()
	Controls the robot based on joystick input. More...
void	joy_callback (const sensor_msgs::msg::Joy::SharedPtr joy_msg)
	Joystick input processing. More...
void	velocity_callback (const geometry_msgs::msg::Twist::SharedPtr velocity_msg)
	Velocity message callback for navigation control. More...
int	get_button (const sensor_msgs::msg::Joy::SharedPtr &joy_msg, const std::initializer_list< int > &mappings)
	Helper to retrieve button value based on controller mode. More...
double	get_axis (const sensor_msgs::msg::Joy::SharedPtr &joy_msg, const std::initializer_list< int > &mappings)
	Helper to retrieve axis value based on controller mode. More...

Private Attributes
rclcpp::Subscription< geometry_msgs::msg::Twist >::SharedPtr	velocity_subscriber_
rclcpp::Subscription< sensor_msgs::msg::Joy >::SharedPtr	joystick_subscriber_
bool	manual_enabled_
bool	robot_disabled_
bool	xbox_mode_
bool	ps4_mode_
bool	switch_mode_
bool	outdoor_mode_
double	speed_multiplier_
double	left_speed_
double	right_speed_
double	lift_actuator_speed_
double	tilt_actuator_speed_
bool	home_button_
bool	share_button_
bool	menu_button_
bool	a_button_
bool	b_button_
bool	x_button_
bool	y_button_
double	left_trigger_
double	right_trigger_
double	left_bumper_
double	right_bumper_
double	d_pad_vertical_
double	d_pad_horizontal_
double	left_joystick_x_
double	left_joystick_y_
double	right_joystick_y_
SparkMax	left_wheel_motor_
SparkMax	right_wheel_motor_
SparkMax	lift_actuator_motor_
SparkMax	tilt_actuator_left_motor_
SparkMax	tilt_actuator_right_motor_

Detailed Description

Controls the robot physically via manual and autonomous commands using various controllers.

Constructor & Destructor Documentation

ControllerTeleop()

ControllerTeleop::ControllerTeleop ( )

inline

Member Function Documentation

apply_controller_mode()

void ControllerTeleop::apply_controller_mode ( )

inlineprivate

Applies the correct controller mode based on parameters.

control_robot()

void ControllerTeleop::control_robot ( )

inlineprivate

Controls the robot based on joystick input.

declare_and_get_parameters()

void ControllerTeleop::declare_and_get_parameters ( )

inlineprivate

Declares and retrieves controller mode parameters.

get_axis()

double ControllerTeleop::get_axis ( const sensor_msgs::msg::Joy::SharedPtr &  joy_msg, const std::initializer_list< int > &  mappings  )

inlineprivate

Helper to retrieve axis value based on controller mode.

get_button()

int ControllerTeleop::get_button ( const sensor_msgs::msg::Joy::SharedPtr &  joy_msg, const std::initializer_list< int > &  mappings  )

inlineprivate

Helper to retrieve button value based on controller mode.

joy_callback()

void ControllerTeleop::joy_callback ( const sensor_msgs::msg::Joy::SharedPtr  joy_msg )

inlineprivate

Joystick input processing.

velocity_callback()

void ControllerTeleop::velocity_callback ( const geometry_msgs::msg::Twist::SharedPtr  velocity_msg )

inlineprivate

Velocity message callback for navigation control.

Member Data Documentation

a_button_

bool ControllerTeleop::a_button_

private

b_button_

bool ControllerTeleop::b_button_

private

d_pad_horizontal_

double ControllerTeleop::d_pad_horizontal_

private

d_pad_vertical_

double ControllerTeleop::d_pad_vertical_

private

home_button_

bool ControllerTeleop::home_button_

private

joystick_subscriber_

rclcpp::Subscription<sensor_msgs::msg::Joy>::SharedPtr ControllerTeleop::joystick_subscriber_

private

left_bumper_

double ControllerTeleop::left_bumper_

private

left_joystick_x_

double ControllerTeleop::left_joystick_x_

private

left_joystick_y_

double ControllerTeleop::left_joystick_y_

private

left_speed_

double ControllerTeleop::left_speed_

private

left_trigger_

double ControllerTeleop::left_trigger_

private

left_wheel_motor_

SparkMax ControllerTeleop::left_wheel_motor_

private

lift_actuator_motor_

SparkMax ControllerTeleop::lift_actuator_motor_

private

lift_actuator_speed_

double ControllerTeleop::lift_actuator_speed_

private

manual_enabled_

bool ControllerTeleop::manual_enabled_

private

menu_button_

bool ControllerTeleop::menu_button_

private

outdoor_mode_

bool ControllerTeleop::outdoor_mode_

private

ps4_mode_

bool ControllerTeleop::ps4_mode_

private

right_bumper_

double ControllerTeleop::right_bumper_

private

right_joystick_y_

double ControllerTeleop::right_joystick_y_

private

right_speed_

double ControllerTeleop::right_speed_

private

right_trigger_

double ControllerTeleop::right_trigger_

private

right_wheel_motor_

SparkMax ControllerTeleop::right_wheel_motor_

private

robot_disabled_

bool ControllerTeleop::robot_disabled_

private

share_button_

bool ControllerTeleop::share_button_

private

speed_multiplier_

double ControllerTeleop::speed_multiplier_

private

switch_mode_

bool ControllerTeleop::switch_mode_

private

tilt_actuator_left_motor_

SparkMax ControllerTeleop::tilt_actuator_left_motor_

private

tilt_actuator_right_motor_

SparkMax ControllerTeleop::tilt_actuator_right_motor_

private

tilt_actuator_speed_

double ControllerTeleop::tilt_actuator_speed_

private

velocity_subscriber_

rclcpp::Subscription<geometry_msgs::msg::Twist>::SharedPtr ControllerTeleop::velocity_subscriber_

private

x_button_

bool ControllerTeleop::x_button_

private

xbox_mode_

bool ControllerTeleop::xbox_mode_

private

y_button_

bool ControllerTeleop::y_button_

private

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The documentation for this class was generated from the following file:

• /home/grayson/dev_ws/src/lunabot_ros/lunabot_teleop/src/controller_teleop.cpp