creos_messages::ControllerState Struct Reference

Remote control message containing the remote controller state. More...

#include <creos/messages/controller_state.hpp>

Public Types
enum	ButtonState {   kLeft = -1 , kDown = -1 , kMiddle = 0 , kReleased = 0 ,   kRight = 1 , kPressed = 1 , kUp = 1 , kLongPress = 2 }

Public Member Functions
auto	operator<=> (const ControllerState &other) const =default
	Compare two ControllerState messages.

Public Attributes
creos::RobotClock::time_point	timestamp
	Timestamp of the remote controller state.
std::vector< float >	axes
	Axes data of the remote controller.
std::vector< ButtonState >	buttons
	Buttons data of the remote controller.

Detailed Description

Remote control message containing the remote controller state.

Member Data Documentation

axes

std::vector<float> creos_messages::ControllerState::axes

Axes data of the remote controller.

The axes are represented by floating point numbers. If the axis doesn't self center, the value will be between 0 and 1. If the axis self centers, the value will be between -1 and 1, where -1 is the left or down position and 1 is the right or up position; 0 should be the resting position. If we have a strange axis where the centering position is not in the middle, we will normalize the value so that the most extreme positions are -1 or 1, and the resting position will still be 0. Analog buttons are represented by floating point numbers between 0 and 1. Triggers that have a switch at the end of travel are an axis with an additional button.

For the Origin, the order is:

• Left stick x
• Left stick y
• Right stick x
• Right stick y
• Left trigger
• Right trigger

For drones the order is:

• Roll
• Pitch
• Throttle
• Yaw
• Wheels
• Analog buttons The selected mode for the drone does not impact the order of the axes.

buttons

std::vector<ButtonState> creos_messages::ControllerState::buttons

Buttons data of the remote controller.

The buttons are represented by integers, as some buttons can have multiple states. Tactile buttons are 1 for pressed, 0 for released, 2 for long press. Switches are 1 for on and 0 for off. 3-way switches are -1 for left/down, 0 for middle, and 1 for right/up.

For the Origin, the order of the buttons is:

• ✕
• ◯
• △
• □
• L1
• R1
• L2
• R2
• Share
• Options
• PS
• L3
• R3
• D-pad left
• D-pad up
• D-pad right
• D-pad down

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The documentation for this struct was generated from the following file:

• creos_msgs/include/creos/messages/controller_state.hpp