Add type config option and possibility to use pedals (#188)

robotology · Sep 19, 2024 · 05af78f · 05af78f
1 parent f3c7e66
commit 05af78f
Show file tree

Hide file tree

Showing 5 changed files with 229 additions and 110 deletions.
diff --git a/src/JoypadModule/app/dcmWalkingJoypad/joypad.ini b/src/JoypadModule/app/dcmWalkingJoypad/joypad.ini
@@ -1,12 +1,14 @@
 name            joypad
 period          0.05
 
+type            gamepad
+
 # Joypad options
 deadzone          0.05
 fullscale         1.0
 
-forwardAxis       0
-rotationAxis      1
+forwardAxis       1
+rotationAxis      0
 sideAxis          2
 prepareButton     0  # A Button
 startButton       1  # B Button

diff --git a/src/JoypadModule/app/dcmWalkingJoypad/keyboard.ini b/src/JoypadModule/app/dcmWalkingJoypad/keyboard.ini
@@ -1,11 +1,13 @@
 name            joypad
 period          0.05
 
+type            keyboard
+
 # Joypad options
 deadzone        0.0
 fullscale       1.0
-forwardAxis       0
-rotationAxis      1
+forwardAxis       1
+rotationAxis      0
 sideAxis          2
 prepareButton     0 # A Button
 startButton       1 # B Button

diff --git a/src/JoypadModule/app/dcmWalkingJoypad/pedals.ini b/src/JoypadModule/app/dcmWalkingJoypad/pedals.ini
@@ -0,0 +1,40 @@
+name            joypad
+period          0.05
+
+type            pedals
+
+
+# Joypad options
+deadzone          0.2
+fullscale         1.0
+
+connectPortsSeparately          true
+
+# copied from gamepad.ini for now
+forwardAxis       1
+rotationAxis      2
+sideAxis          0
+
+
+# Port names
+rpcServerPort_name              /walking-coordinator/rpc
+rpcClientPort_name              /rpc
+
+# The goal is the desired position of the robot CoM. The desired position is a
+# vector containing the x and the y coordinate expressed in a frame rigidly
+# attached to the robot.
+# The x-axis points forward
+# The y-axis points on the left
+robotGoalInputPort_name         /walking-coordinator/goal:i
+robotGoalOutputPort_name        /goal:o
+
+[JOYPAD_DEVICE]
+# Polydriver options
+# remote depends on the name of the joypad (xbox ps4 ...)
+
+# device    JoypadControlClient
+# local     /joypadInput
+# remote    /joypadDevice/xbox
+
+device    SDLJoypad
+sticks    0
diff --git a/src/JoypadModule/include/WalkingControllers/JoypadModule/Module.h b/src/JoypadModule/include/WalkingControllers/JoypadModule/Module.h
@@ -51,13 +51,17 @@ namespace WalkingControllers
         std::string m_robotGoalOutputPortName; /**< Name of the robotGoal port (opened by the joypad module) */
         std::string m_robotGoalInputPortName; /**< Name of the robotGoal port (opened by the walking module) */
 
+        std::string m_joypadType; /**< Type of the joypad. pedals, gamepad, etc. */
+
         /**
          * Standard deadzone function.
          * @param input input of the deadzone
          * @return 0 if the abs(input) < abs(deadzone) otherwise return the input scaled.
          */
         double deadzone(const double &input);
 
+        void sendGoal(const double linearVelocity, const double lateralVelocity, const double angularVelocity);
+
     public:
 
         /**