diff --git a/joystick_ros/CMakeLists.txt b/joystick_ros/CMakeLists.txt
deleted file mode 100644
index 51dc825..0000000
--- a/joystick_ros/CMakeLists.txt
+++ /dev/null
@@ -1,206 +0,0 @@
-cmake_minimum_required(VERSION 3.0.2)
-project(joystick_ros)
-
-## Compile as C++11, supported in ROS Kinetic and newer
-# add_compile_options(-std=c++11)
-
-## Find catkin macros and libraries
-## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
-## is used, also find other catkin packages
-find_package(catkin REQUIRED COMPONENTS
- roscpp
- rospy
- std_msgs
-)
-
-## System dependencies are found with CMake's conventions
-# find_package(Boost REQUIRED COMPONENTS system)
-
-
-## Uncomment this if the package has a setup.py. This macro ensures
-## modules and global scripts declared therein get installed
-## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
-# catkin_python_setup()
-
-################################################
-## Declare ROS messages, services and actions ##
-################################################
-
-## To declare and build messages, services or actions from within this
-## package, follow these steps:
-## * Let MSG_DEP_SET be the set of packages whose message types you use in
-## your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
-## * In the file package.xml:
-## * add a build_depend tag for "message_generation"
-## * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET
-## * If MSG_DEP_SET isn't empty the following dependency has been pulled in
-## but can be declared for certainty nonetheless:
-## * add a exec_depend tag for "message_runtime"
-## * In this file (CMakeLists.txt):
-## * add "message_generation" and every package in MSG_DEP_SET to
-## find_package(catkin REQUIRED COMPONENTS ...)
-## * add "message_runtime" and every package in MSG_DEP_SET to
-## catkin_package(CATKIN_DEPENDS ...)
-## * uncomment the add_*_files sections below as needed
-## and list every .msg/.srv/.action file to be processed
-## * uncomment the generate_messages entry below
-## * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)
-
-## Generate messages in the 'msg' folder
-# add_message_files(
-# FILES
-# Message1.msg
-# Message2.msg
-# )
-
-## Generate services in the 'srv' folder
-# add_service_files(
-# FILES
-# Service1.srv
-# Service2.srv
-# )
-
-## Generate actions in the 'action' folder
-# add_action_files(
-# FILES
-# Action1.action
-# Action2.action
-# )
-
-## Generate added messages and services with any dependencies listed here
-# generate_messages(
-# DEPENDENCIES
-# std_msgs
-# )
-
-################################################
-## Declare ROS dynamic reconfigure parameters ##
-################################################
-
-## To declare and build dynamic reconfigure parameters within this
-## package, follow these steps:
-## * In the file package.xml:
-## * add a build_depend and a exec_depend tag for "dynamic_reconfigure"
-## * In this file (CMakeLists.txt):
-## * add "dynamic_reconfigure" to
-## find_package(catkin REQUIRED COMPONENTS ...)
-## * uncomment the "generate_dynamic_reconfigure_options" section below
-## and list every .cfg file to be processed
-
-## Generate dynamic reconfigure parameters in the 'cfg' folder
-# generate_dynamic_reconfigure_options(
-# cfg/DynReconf1.cfg
-# cfg/DynReconf2.cfg
-# )
-
-###################################
-## catkin specific configuration ##
-###################################
-## The catkin_package macro generates cmake config files for your package
-## Declare things to be passed to dependent projects
-## INCLUDE_DIRS: uncomment this if your package contains header files
-## LIBRARIES: libraries you create in this project that dependent projects also need
-## CATKIN_DEPENDS: catkin_packages dependent projects also need
-## DEPENDS: system dependencies of this project that dependent projects also need
-catkin_package(
-# INCLUDE_DIRS include
-# LIBRARIES joystick_ros
-# CATKIN_DEPENDS roscpp rospy std_msgs
-# DEPENDS system_lib
-)
-
-###########
-## Build ##
-###########
-
-## Specify additional locations of header files
-## Your package locations should be listed before other locations
-include_directories(
-# include
- ${catkin_INCLUDE_DIRS}
-)
-
-## Declare a C++ library
-# add_library(${PROJECT_NAME}
-# src/${PROJECT_NAME}/joystick_ros.cpp
-# )
-
-## Add cmake target dependencies of the library
-## as an example, code may need to be generated before libraries
-## either from message generation or dynamic reconfigure
-# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
-
-## Declare a C++ executable
-## With catkin_make all packages are built within a single CMake context
-## The recommended prefix ensures that target names across packages don't collide
-# add_executable(${PROJECT_NAME}_node src/joystick_ros_node.cpp)
-
-## Rename C++ executable without prefix
-## The above recommended prefix causes long target names, the following renames the
-## target back to the shorter version for ease of user use
-## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node"
-# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "")
-
-## Add cmake target dependencies of the executable
-## same as for the library above
-# add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
-
-## Specify libraries to link a library or executable target against
-# target_link_libraries(${PROJECT_NAME}_node
-# ${catkin_LIBRARIES}
-# )
-
-#############
-## Install ##
-#############
-
-# all install targets should use catkin DESTINATION variables
-# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
-
-## Mark executable scripts (Python etc.) for installation
-## in contrast to setup.py, you can choose the destination
-# catkin_install_python(PROGRAMS
-# scripts/my_python_script
-# DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
-# )
-
-## Mark executables for installation
-## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_executables.html
-# install(TARGETS ${PROJECT_NAME}_node
-# RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
-# )
-
-## Mark libraries for installation
-## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_libraries.html
-# install(TARGETS ${PROJECT_NAME}
-# ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
-# LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
-# RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}
-# )
-
-## Mark cpp header files for installation
-# install(DIRECTORY include/${PROJECT_NAME}/
-# DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
-# FILES_MATCHING PATTERN "*.h"
-# PATTERN ".svn" EXCLUDE
-# )
-
-## Mark other files for installation (e.g. launch and bag files, etc.)
-# install(FILES
-# # myfile1
-# # myfile2
-# DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
-# )
-
-#############
-## Testing ##
-#############
-
-## Add gtest based cpp test target and link libraries
-# catkin_add_gtest(${PROJECT_NAME}-test test/test_joystick_ros.cpp)
-# if(TARGET ${PROJECT_NAME}-test)
-# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
-# endif()
-
-## Add folders to be run by python nosetests
-# catkin_add_nosetests(test)
diff --git a/joystick_ros/package.xml b/joystick_ros/package.xml
deleted file mode 100644
index 834b245..0000000
--- a/joystick_ros/package.xml
+++ /dev/null
@@ -1,68 +0,0 @@
-
-
- joystick_ros
- 0.0.0
- The joystick_ros package
-
-
-
-
- maryne-dey
-
-
-
-
-
- TODO
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
- catkin
- roscpp
- rospy
- std_msgs
- roscpp
- rospy
- std_msgs
- roscpp
- rospy
- std_msgs
-
-
-
-
-
-
-
-
diff --git a/joystick_ros/src/parser.cpp b/joystick_ros/src/parser.cpp
deleted file mode 100644
index a072ffc..0000000
--- a/joystick_ros/src/parser.cpp
+++ /dev/null
@@ -1,46 +0,0 @@
-#include
-#include
-#include
-#include
-
-// Declare global variables to store Axis values
-float axis0_value = 0.0;
-float axis1_value = 0.0;
-
-void serial_data_callback(const std_msgs::String::ConstPtr& msg) {
- // Parse received string message
- std::string data_str = msg->data;
- if (data_str.find("Axis0") != std::string::npos) {
- // Extract value for Axis0
- axis0_value = std::stof(data_str.substr(data_str.find(":") + 1));
- } else if (data_str.find("Axis1") != std::string::npos) {
- // Extract value for Axis1
- axis1_value = std::stof(data_str.substr(data_str.find(":") + 1));
- }
-
- // If both Axis0 and Axis1 values are available, publish them together
- if (axis0_value != 0.0 && axis1_value != 0.0) {
- std_msgs::Float32MultiArray float_array_msg;
- float_array_msg.data.push_back(axis0_value);
- float_array_msg.data.push_back(axis1_value);
- axis_values_pub.publish(float_array_msg);
- }
-}
-
-int main(int argc, char** argv) {
- // Initialize ROS node
- ros::init(argc, argv, "serial_data_parser");
- ros::NodeHandle nh;
-
- // Subscribe to serial data topic
- ros::Subscriber sub = nh.subscribe("serial_data", 10, serial_data_callback);
-
- // Initialize publisher for Axis values
- ros::Publisher axis_values_pub = nh.advertise("axis_values", 10);
-
- // Spin ROS node
- ros::spin();
-
- return 0;
-}
-
diff --git a/joystick_ros/src/position_ctrl.cpp b/joystick_ros/src/position_ctrl.cpp
deleted file mode 100644
index bac53f8..0000000
--- a/joystick_ros/src/position_ctrl.cpp
+++ /dev/null
@@ -1,70 +0,0 @@
-#include
-#include
-#include
-
-// Constants
-const float DEAD_ZONE = 5.0; // Dead zone in percentage (0 to 100)
-const float MAX_SPEED = 1.0; // Maximum speed of the plate
-
-// Global variables
-float y_position = 0.0; // Initial y position
-float prev_time = 0.0; // Previous time
-float direction = 0.0; // Direction of movement
-
-void joystick_axis_callback(const std_msgs::Float32MultiArray::ConstPtr& msg) {
- // Extract joystick x and y positions
- float x_joystick = msg->data[0];
- float y_joystick = msg->data[1];
-
- // Determine direction based on joystick position
- if (std::abs(x_joystick) < DEAD_ZONE) {
- direction = 0.0; // Joystick in dead zone, no movement
- } else {
- direction = (x_joystick > 0) ? 1.0 : -1.0; // Joystick outside dead zone, set direction accordingly
- }
-
- // Calculate speed based on joystick position
- float speed = MAX_SPEED * std::abs(x_joystick) / 100.0;
-
- // Calculate time elapsed since last callback
- float current_time = ros::Time::now().toSec();
- float time_elapsed = current_time - prev_time;
-
- // Calculate change in y position
- y_position = y_position + time_elapsed * speed * direction;
-
- // Store current time for next iteration
- prev_time = current_time;
-
- // Publish robot position in a point format
- geometry_msgs::Point position_cmd;
- position_cmd.x = 65.0; // Fixed x-coordinate
- position_cmd.y = y_position;
- position_cmd.z = 0.0; // Assuming z-coordinate is not used
-
- // Publish position command
- ros::NodeHandle nh;
- ros::Publisher position_cmd_pub = nh.advertise("/position_cmd", 10);
- position_cmd_pub.publish(position_cmd);
-}
-
-int main(int argc, char** argv) {
- // Initialize ROS node
- ros::init(argc, argv, "joystick_to_robot_converter");
- ros::NodeHandle nh;
-
- // Subscribe to joystick axis values topic
- ros::Subscriber joystick_sub = nh.subscribe("joystick_axis_values", 10, joystick_axis_callback);
-
- // Initialize y position
- y_position = 0.0;
-
- // Initialize previous time
- prev_time = ros::Time::now().toSec();
-
- // Spin ROS node
- ros::spin();
-
- return 0;
-}
-
diff --git a/joystick_ros/src/readSerial.cpp b/joystick_ros/src/readSerial.cpp
deleted file mode 100644
index 3a42923..0000000
--- a/joystick_ros/src/readSerial.cpp
+++ /dev/null
@@ -1,51 +0,0 @@
-#include
-#include
-#include
-#include // Make sure to include the serial library, install using "sudo apt install ros-$ROS_DISTRO-serial"
-
-void readSerial(const std::string& port, uint32_t baud_rate) {
- serial::Serial ser;
- ser.setPort(port);
- ser.setBaudrate(baud_rate);
-
- try {
- ser.open();
- } catch (const std::exception& e) {
- ROS_ERROR_STREAM("Failed to open serial port " << port << ": " << e.what());
- return;
- }
-
- ros::NodeHandle nh;
- ros::Publisher serial_pub = nh.advertise("serial_data", 10);
-
- ROS_INFO_STREAM("Reading from serial port " << port);
-
- while (ros::ok()) {
- if (ser.available()) {
- std_msgs::String msg;
- msg.data = ser.readline();
- ROS_INFO_STREAM("Received data: " << msg.data);
- serial_pub.publish(msg);
- }
- ros::spinOnce();
- ros::Duration(0.1).sleep(); // Sleep for 0.1 second
- }
-
- ser.close();
-}
-
-int main(int argc, char** argv) {
- ros::init(argc, argv, "serial_reader");
-
- if (argc != 3) {
- ROS_ERROR("Usage: rosrun your_package_name serial_reader ");
- return 1;
- }
-
- std::string port = "COM14";
- uint32_t baud_rate = 9600;
-
- readSerial(port, baud_rate);
-
- return 0;
-}