teleop_arm_key.h

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/*
 * teleop_arm_key.h
 * Copyright 2013 University of Massachusetts Lowell
 * Author: Jonathan Hasenzahl
 */

#ifndef TELEOP_ARM_KEY_H_
#define TELEOP_ARM_KEY_H_

#include "ros/ros.h"
#include "arm/constant_move.h"

// Arm control key codes
#define KEYCODE_W         0x77 // ARM_FORWARD
#define KEYCODE_A         0x61 // ARM_LEFT
#define KEYCODE_S         0x73 // ARM_BACKWARD
#define KEYCODE_D         0x64 // ARM_RIGHT
#define KEYCODE_Z         0x7A // ARM_UP
#define KEYCODE_X         0x78 // ARM_DOWN
#define KEYCODE_F         0x66 // FOLD
#define KEYCODE_U         0x75 // UNFOLD

// Claw control key codes
#define KEYCODE_NUM_4     0x34 // CLAW_YAW_LEFT
#define KEYCODE_NUM_6     0x36 // CLAW_YAW_RIGHT
#define KEYCODE_NUM_8     0x38 // CLAW_PITCH_UP
#define KEYCODE_NUM_2     0x32 // CLAW_PITCH_DOWN
#define KEYCODE_NUM_7     0x37 // CLAW_ROLL_LEFT
#define KEYCODE_NUM_9     0x39 // CLAW_ROLL_RIGHT
#define KEYCODE_NUM_MINUS 0x2D // CLAW_GRIP_CLOSE
#define KEYCODE_NUM_PLUS  0x2B // CLAW_GRIP_OPEN

// Lift control key codes
#define KEYCODE_UP        0x41 // LIFT_UP
#define KEYCODE_DOWN      0x42 // LIFT_DOWN

// Other key codes
#define KEYCODE_COMMA     0x2C // SPEED_DOWN
#define KEYCODE_PERIOD    0x2E // SPEED_UP
#define KEYCODE_BACKSPACE 0x7F // ALL_STOP
#define KEYCODE_TAB       0x09 // QUERY
#define KEYCODE_Q         0x71 // QUIT

class TeleopArmKey
{
public:
    TeleopArmKey();

private:
    void init();
    void keyLoop();
    bool getCommand(const char c);
    void print();
      
    ros::NodeHandle n_;
    ros::Publisher cmd_pub_;
    arm::constant_move cmd_;
};

#endif