Add conveyor and Dump

Moonshot needs to move crap and take dumps.

ros_ws/src/common/config.cpp

@@ -55,14 +55,19 @@ ConfigValues initConfigs()
     {
     	ROS_ERROR("max_ang_vel is not defined on the parameter server");
     }
+
     //controller mapping
     get_int_param("/lin_vel_axis", config.lin_vel_axis);
     get_int_param("/ang_vel_axis", config.ang_vel_axis);
+    get_int_param("conveyor_speed_forward", config.conveyor_speed_forward);
+    get_int_param("conveyor_speed_back", config.conveyor_speed_back);
     get_int_param("/teleop_btn", config.teleop_btn);
     get_int_param("/standby_btn", config.standby_btn);
     get_int_param("/autonomous_btn", config.autonomous_btn);
     get_int_param("/speed_inc_btn", config.speed_inc_btn);
     get_int_param("/speed_dec_btn", config.speed_dec_btn);
+    get_int_param("/actuator_up", config.actuator_up);
+    get_int_param("/actuator_down", config.actuator_down);
     return config;
 }
 

ros_ws/src/common/config.h

@@ -29,14 +29,16 @@ double max_ang_vel;
 std::string controller_type;
 int lin_vel_axis;
 int ang_vel_axis;
+int conveyor_speed_forward;
+int conveyor_speed_back;
 int teleop_btn;
 int standby_btn;
 int autonomous_btn;
 int speed_inc_btn;
 int speed_dec_btn;
 int turbo_btn;
-
-
+int actuator_up;
+int actuator_down;
 };
 ConfigValues initConfigs();
 void get_int_param(std::string key_name, int & config_var);

ros_ws/src/control/include/control/remote_control.h

@@ -14,6 +14,8 @@
 #include <ros/ros.h>
 #include <sensor_msgs/Joy.h>
 #include <geometry_msgs/Twist.h>
+#include <std_msgs/Int8.h>
+#include <std_msgs/Float64.h>
 #include "constants.h"
 
 class RemoteControl
@@ -27,20 +29,41 @@ class RemoteControl
      */
     geometry_msgs::Twist cmd_vel;
 
+    /**
+     * @brief The speed at which the actuators will run
+     *
+     * The actuators will curently work using 1 as up -1 as down and 0 as hold
+     */
+    std_msgs::Int8 actuator_speed;
+
+    std_msgs::Float64 conveyor_speed;
+
     /**
      * @brief The twist publisher
      *
      * This ros publisher will be responsible for publishing the twist message which will eventually be sent to the
      * robot's motor controllers.
      */
     ros::Publisher twist_pub;
+
+    /**
+     * @brief The actuator publisher
+     *
+     * This ros publisher will be responsible for publishing the actuator message which will tell the actuators to go up
+     * or down.
+     */
+    ros::Publisher actuator_pub;
+
+    ros::Publisher conveyor_pub;
+
     /**
      * @brief The joy message subscriber
      *
      * This ros subscriber will be responsible for subscribing to the joy message published by the controller method that
      * is being used.
      */
     ros::Subscriber joy_sub;
+
     /**
      * @brief The ros node handle
      */

ros_ws/src/control/param/controllers/360.yaml

@@ -11,17 +11,26 @@
 #BACK_BUTTON:      6
 #START_BUTTON:     7
 #POWER_BUTTON:     8
+#UP_DPAD:          13
+#DOWN_DPAD:        14
+#RIGHT_DPAD:       12
+#LEFT_DPAD:        11
 
 
 
-controller_type:   xbox360
+controller_type:           xbox360
 
-lin_vel_axis:      1
-ang_vel_axis:      3
-teleop_btn:        0
-standby_btn:       1
+lin_vel_axis:              1
+ang_vel_axis:              3
+conveyor_speed_forward:    5
+conveyor_speed_back:       2
+teleop_btn:                0
+standby_btn:               1
 
-autonomous_btn:    3
-speed_inc_btn:     5
-speed_dec_btn:     4
-turbo_btn:         2
+autonomous_btn:            3
+speed_inc_btn:             5
+speed_dec_btn:             4
+turbo_btn:                 2
+
+actuator_up:               13
+actuator_down:             14

ros_ws/src/control/src/control/remote_control.cpp

@@ -23,6 +23,8 @@ RemoteControl::RemoteControl()
 
     joy_sub = nh.subscribe<sensor_msgs::Joy>(JOY_TOPIC, 1, &RemoteControl::joyCallback, this);
     twist_pub = nh.advertise<geometry_msgs::Twist>(TELEOP_TOPIC, 1);
+    actuator_pub = nh.advertise<std_msgs::Int8>("dump_activate", 1);
+    conveyor_pub = nh.advertise<std_msgs::Float64>("conveyor_vel", 1);
 }
 
 RemoteControl::RemoteControl(std::string twist_topic, std::string joy_topic)
@@ -45,7 +47,6 @@ RemoteControl::RemoteControl(std::string twist_topic, std::string joy_topic)
 
 void RemoteControl::joyCallback(const sensor_msgs::Joy::ConstPtr& msg)
 {
-
     if ((msg->buttons[config.speed_inc_btn] == 1) && (speed_modifier < 1))
     {
         speed_modifier += 0.01;
@@ -56,9 +57,31 @@ void RemoteControl::joyCallback(const sensor_msgs::Joy::ConstPtr& msg)
     }
     cmd_vel.linear.x = msg->axes[config.lin_vel_axis] * speed_modifier;
     cmd_vel.angular.z = msg->axes[config.ang_vel_axis];
+
+    if((-msg->axes[config.conveyor_speed_forward] + 1) / 2 > 0)
+        conveyor_speed.data = (-msg->axes[config.conveyor_speed_forward] + 1) / 2;
+    else if((-msg->axes[config.conveyor_speed_back] + 1) / 2 > 0)
+        conveyor_speed.data = -(-msg->axes[config.conveyor_speed_back] + 1) / 2;
+    else
+        conveyor_speed.data = 0;
+
+    if(msg->buttons[config.actuator_up])
+    {
+        actuator_speed.data = 1;
+    }
+    else if(msg->buttons[config.actuator_down])
+    {
+        actuator_speed.data = -1;
+    }
+    else
+    {
+        actuator_speed.data = 0;
+    }
 }
 
 void RemoteControl::update()
 {
     twist_pub.publish(cmd_vel);
+    actuator_pub.publish(actuator_speed);
+    conveyor_pub.publish(conveyor_speed);
 }

ros_ws/src/navigation/include/navigation/navigation.h

@@ -0,0 +1,14 @@
+//
+// Created by matt on 1/5/16.
+//
+
+#ifndef PROJECT_NAVIGATION_H
+#define PROJECT_NAVIGATION_H
+
+
+class Navigation {
+
+};
+
+
+#endif //PROJECT_NAVIGATION_H

ros_ws/src/navigation/src/navigation/navigation.cpp

@@ -0,0 +1,5 @@
+//
+// Created by matt on 1/5/16.
+//
+
+#include "navigation.h"