From d0036d11f3d52f93e7935bf0fdbbd69a7551151a Mon Sep 17 00:00:00 2001
From: odri <odri@furano.laas.fr>
Date: Mon, 18 Oct 2021 10:49:05 +0200
Subject: [PATCH] Tweak joystick references
---
include/qrw/Joystick.hpp | 8 ++++----
scripts/Controller.py | 2 +-
2 files changed, 5 insertions(+), 5 deletions(-)
diff --git a/include/qrw/Joystick.hpp b/include/qrw/Joystick.hpp
index e2ffd787..ff95e8c7 100644
--- a/include/qrw/Joystick.hpp
+++ b/include/qrw/Joystick.hpp
@@ -116,14 +116,14 @@ class Joystick {
// Maximum velocity values
double vXScale = 0.3; // Lateral
- double vYScale = 0.6; // Forward
+ double vYScale = 0.5; // Forward
double vYawScale = 1.0; // Rotation
// Maximum position values
- double pRollScale = 0.32; // Lateral
- double pPitchScale = 0.28; // Forward
+ double pRollScale = -0.32; // Lateral
+ double pPitchScale = -0.28; // Forward
double pHeightScale = 0.025; // Forward
- double pYawScale = 0.25; // Rotation
+ double pYawScale = -0.35; // Rotation
// Variable to handle the automatic static/trot switching
bool switch_static = false;
diff --git a/scripts/Controller.py b/scripts/Controller.py
index 714f1ef1..c7070ec4 100644
--- a/scripts/Controller.py
+++ b/scripts/Controller.py
@@ -361,7 +361,7 @@ class Controller:
# self.p_ref[3, 0] = np.clip((self.k - 2000) / 2000, 0.0, 1.0)
self.xgoals[[3, 4], 0] = self.p_ref[[3, 4], 0]
self.h_ref = self.p_ref[2, 0]
- hRb = pin.rpy.rpyToMatrix(0.0, 0.0, self.p_ref[3, 0] * 0.35)
+ hRb = pin.rpy.rpyToMatrix(0.0, 0.0, self.p_ref[5, 0])
# print(self.joystick.getPRef())
# print(self.p_ref[2])
else:
--
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