cleaning in prog

catkin_ws/src/poppy_ros

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-Subproject commit 97d4093656a3ec9cfe8645457e00e55ccbdd8469

joystick_ros/src/parser.cpp

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-#include <ros/ros.h>
-#include <std_msgs/String.h>
-#include <std_msgs/Float32MultiArray.h>
-#include <string>
-
-// 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<std_msgs::Float32MultiArray>("axis_values", 10);
-
-    // Spin ROS node
-    ros::spin();
-
-    return 0;
-}
-

joystick_ros/src/position_ctrl.cpp

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-#include <ros/ros.h>
-#include <std_msgs/Float32MultiArray.h>
-#include <geometry_msgs/Point.h>
-
-// 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<geometry_msgs::Point>("/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;
-}
-