From a80e237a8a94dfa826446037d7ccdc2e2cb3ead7 Mon Sep 17 00:00:00 2001
From: abeinder <abeinder@iastate.edu>
Date: Wed, 26 Apr 2023 21:34:47 -0500
Subject: [PATCH] I broke the gamepad and fixed it
---
pycrocart/PyCroCart.py | 2 +-
pycrocart/SetpointMenu.py | 17 ++++++++++-------
pycrocart/logging_variables.json | 7 +------
3 files changed, 12 insertions(+), 14 deletions(-)
diff --git a/pycrocart/PyCroCart.py b/pycrocart/PyCroCart.py
index 5ea6ea8ec..49e40fd72 100644
--- a/pycrocart/PyCroCart.py
+++ b/pycrocart/PyCroCart.py
@@ -61,7 +61,7 @@ if __name__ == '__main__':
app = QApplication(sys.argv)
cf1 = CrazyflieProtoConnection()
- uri = 'radio://0/80/2M/E7E7E7E7E7'
+ uri = 'radio://0/20/2M/E7E7E7E7E7'
cf1.connect(uri)
cf1.scf.cf.commander = uCartCommander.Commander(cf1.scf.cf)
diff --git a/pycrocart/SetpointMenu.py b/pycrocart/SetpointMenu.py
index a4a3580e8..0740a1815 100644
--- a/pycrocart/SetpointMenu.py
+++ b/pycrocart/SetpointMenu.py
@@ -173,13 +173,16 @@ class SetpointMenu(QWidget):
else:
self.setpoint_handler.setRateMode()
- yaw = self.cap_max_value(yaw, 20, -20)
- pitch = self.cap_max_value(pitch, 5, -5)
- roll = self.cap_max_value(roll, 5, -5)
-
- # If you are a flypi do this
- thrust = thrust + 100
- thrust = self.cap_max_value(thrust, 340, 240)
+ if self.gamepad_button.isChecked():
+ yaw = self.cap_max_value(yaw, 20, -20)
+ pitch = self.cap_max_value(pitch, 5, -5)
+ roll = self.cap_max_value(roll, 5, -5)
+
+ # If you are a flypi do this
+ thrust = thrust + 240
+ thrust = self.cap_max_value(thrust, 340, 240)
+ print("thrust")
+ print(thrust)
# otherwise don't..... but I'm not changing that rn
diff --git a/pycrocart/logging_variables.json b/pycrocart/logging_variables.json
index 8a5ebf63a..67b220d72 100644
--- a/pycrocart/logging_variables.json
+++ b/pycrocart/logging_variables.json
@@ -2,12 +2,7 @@
"group1":
{
"update_frequency_ms": 50,
- "vars": ["ctrlStdnt.msrdPitchRate", "ctrlStdnt.dsirdPitchRate", "stateEstimate.roll", "stateEstimate.yaw", "ctrlStdnt.desiredPitch"]
- },
- "group2":
- {
- "update_frequency_ms": 50,
- "vars": ["ctrlStdnt.cmd_thrust", "ctrlStdnt.cmd_roll", "ctrlStdnt.cmd_pitch", "stateEstimate.pitch", "ctrlStdnt.cmd_yaw"]
+ "vars": ["stateEstimate.roll", "stateEstimate.yaw", "stateEstimate.pitch"]
},
"group3":
{
--
GitLab