ShengMingTang / tircgo_controller

Version : tircgo1107

Manual : https://hackmd.io/2yVRbpZSQiuUu7M4j-Bghg?view

Add action to provide programming interface

routine:

sudo chmod a+rw /dev/input/js0

sudo chmod 666 /dev/ttyUSB0

source tircgo/devel/setup.bash

rosrun tircgo_controller tircgo_controller_node ""

rosrun tircgo_uart tircgo_uart_encoder_decoder_node

rosrun tircgo_controller Agent.py ""

rosrun tircgo_controller Scheduler.py ""

nodes available

If running a node any below with nonempty cmd line args, the first one must be its name [mendatory]

Use "" to pass an empty string to the process

tircgo_controller/ticgo_controller_node [name]

main control

tircgo_controller/Agent.py [name]

for UART history

tircgo_controller/Scheduler.py [name]

for Schedule, written in setup() and loop() using shot hand function above

For testing

tircgo_controller/Imm_wifi.py [from, to]

Emulating wifi, the first 2 args is the sender and the receiver, matched with the one you launch controller with

tircgo_controller/Imm_joy.py [name]

Separating single joystick input to separate controllers

# In tircgo_controller/src/scripts/Scheduler.py
# customize the 2 function above using ONLY
# Work(R, N)
# Drive(Linear, Angular, duration)
# Delay(N) for 0.1*N sec
def setup():
    return
def loop():
    return