uos_diffdrive_teleop_ps3joy.h

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/*
 *
 * Copyright (C) 2015 University of Osnabrück, Germany
 * 
 * This program is free software; you can redistribute it and/or
 * modify it under the terms of the GNU General Public License
 * as published by the Free Software Foundation; either version 2
 * of the License, or (at your option) any later version.
 *
 * This program is distributed in the hope that it will be useful,
 * but WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 * GNU General Public License for more details.
 *
 * You should have received a copy of the GNU General Public License
 * along with this program; if not, write to the Free Software
 * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301, USA.
 *
 * uos_diffdrive_teleop_ps3joy.h
 *
 *  Created on: 16.02.2015
 *      Author: Sebastian Pütz <spuetz@uos.de>
 */

#ifndef UOS_DIFFDRIVE_TELEOP_PS3JOY_H
#define UOS_DIFFDRIVE_TELEOP_PS3JOY_H

#include <ros/ros.h>
#include <uos_diffdrive_teleop.h>
#include <sensor_msgs/Joy.h>

#define PS3_BUTTON_SELECT            0
#define PS3_BUTTON_STICK_LEFT        1
#define PS3_BUTTON_STICK_RIGHT       2
#define PS3_BUTTON_START             3
#define PS3_BUTTON_CROSS_UP          4
#define PS3_BUTTON_CROSS_RIGHT       5
#define PS3_BUTTON_CROSS_DOWN        6
#define PS3_BUTTON_CROSS_LEFT        7
#define PS3_BUTTON_REAR_LEFT_2       8
#define PS3_BUTTON_REAR_RIGHT_2      9
#define PS3_BUTTON_REAR_LEFT_1       10
#define PS3_BUTTON_REAR_RIGHT_1      11
#define PS3_BUTTON_ACTION_TRIANGLE   12
#define PS3_BUTTON_ACTION_CIRCLE     13
#define PS3_BUTTON_ACTION_CROSS      14
#define PS3_BUTTON_ACTION_SQUARE     15
#define PS3_BUTTON_PAIRING           16

#define PS3_AXIS_STICK_LEFT_LEFTWARDS    0
#define PS3_AXIS_STICK_LEFT_UPWARDS      1
#define PS3_AXIS_STICK_RIGHT_LEFTWARDS   2
#define PS3_AXIS_STICK_RIGHT_UPWARDS     3
#define PS3_AXIS_BUTTON_CROSS_UP         4
#define PS3_AXIS_BUTTON_CROSS_RIGHT      5
#define PS3_AXIS_BUTTON_CROSS_DOWN       6
#define PS3_AXIS_BUTTON_CROSS_LEFT       7
#define PS3_AXIS_BUTTON_REAR_LEFT_2      8
#define PS3_AXIS_BUTTON_REAR_RIGHT_2     9
#define PS3_AXIS_BUTTON_REAR_LEFT_1      10
#define PS3_AXIS_BUTTON_REAR_RIGHT_1     11
#define PS3_AXIS_BUTTON_ACTION_TRIANGLE  12
#define PS3_AXIS_BUTTON_ACTION_CIRCLE    13
#define PS3_AXIS_BUTTON_ACTION_CROSS     14
#define PS3_AXIS_BUTTON_ACTION_SQUARE    15
#define PS3_AXIS_ACCELEROMETER_LEFT      16
#define PS3_AXIS_ACCELEROMETER_FORWARD   17
#define PS3_AXIS_ACCELEROMETER_UP        18
#define PS3_AXIS_GYRO_YAW                19

class TeleopPS3 : public Teleop
{
  public:
    TeleopPS3();

  private:
    ros::Subscriber joy_sub;
    bool use_button_pressure;    
    void PS3Callback(const sensor_msgs::Joy::ConstPtr& joy);
};

#endif /* uos_diffdrive_teleop_ps3joy.h */