search

CU-Robosub / cusub

The CUSub repository
GNU General Public License v3.0
9 stars 1 forks source link

New keyboard teleop #20

Closed belgiumkansas closed 5 years ago

belgiumkansas commented 5 years ago

We don't always have a controller handy for teleoperation of the sub, and the setpoint control teleop script is a pain, so make a key based one. For example holding W will make the sub move forward and S backwards.

This will need to be integrated with our current position based controls. This may require some creativity since they are not velocity controls.

Do we want to accumulate velocity? For example 1 click of W increased thrust by 1 tick and go from 0-10 ticks full power. Then remap S as stop motion and X as backwards. Or we can just do holding down W means we have a drive of current drive state plus 3 meters, and releasing it sets it to current state so we move at a steady speed when the key is held down and immediately stop when it is released.

DrYerzinia commented 5 years ago

This probably already exists: https://github.com/CU-Robosub/cusub_common/blob/master/Debugging-Console/teleop/scripts/fun_teleop.py Needs to be tested and fixed though if it doesn't.