From 5da3302732f24d95f34c6602e6a13f821dbee125 Mon Sep 17 00:00:00 2001
From: Rahul Menon <menonrahul02@gmail.com>
Date: Tue, 17 Oct 2023 10:15:20 -0500
Subject: [PATCH] deployment updates

---
 CMakeLists.txt                       | 5 +++++
 config/joystick.lua                  | 6 +-----
 config/radio.lua                     | 6 +++---
 src/radio_driver/radio_driver.cpp    | 4 ++--
 src/radio_driver/radio_interface.cpp | 3 ++-
 5 files changed, 13 insertions(+), 11 deletions(-)

diff --git a/CMakeLists.txt b/CMakeLists.txt
index 560f571..fd98da1 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -94,6 +94,11 @@ IF(${CMAKE_BUILD_MODE} MATCHES "Omega")
     src/radio_driver/radio_interface.cpp
     src/vesc_driver/serial.cc)
   TARGET_LINK_LIBRARIES(radio_driver ${libs})
+
+  ROSBUILD_ADD_EXECUTABLE(joystick
+    src/joystick/joystick.cc
+    src/joystick/joystick_driver.cc)
+  TARGET_LINK_LIBRARIES(joystick ${libs})
 ENDIF()
 
 MESSAGE(STATUS "Building simulator")
diff --git a/config/joystick.lua b/config/joystick.lua
index 2a10dbc..574f074 100644
--- a/config/joystick.lua
+++ b/config/joystick.lua
@@ -1,9 +1,5 @@
-joystick_port="/dev/input/js1"
+joystick_port="/dev/input/js0"
 
 -- name of controller used
 joystick_name="Logitech_F710"
 -- joystick_name="Sony_DualShock_4"
-
-
-
-
diff --git a/config/radio.lua b/config/radio.lua
index d5263c3..1fb0aee 100644
--- a/config/radio.lua
+++ b/config/radio.lua
@@ -5,9 +5,9 @@ command_rate = 20;  -- how often to send commands (Hz)
 command_timeout = 0.5; -- if a command is not received after this amount of time, the car will stop
 
 full_speed = 8.0; -- fastest the car is capable of going (m/s)
-max_speed = 2.0; -- fastest we want to allow the car to go (m/s)
-max_accel = 6.0; -- most acceleration we want to allow
-max_decel = 6.0; -- most decelration we want to allow
+max_speed = 4.0; -- fastest we want to allow the car to go (m/s)
+max_accel = 10.0; -- most acceleration we want to allow
+max_decel = 10.0; -- most decelration we want to allow
 
 speed_to_throttle = 1.0 / full_speed; -- how much throttle to apply per m/s of speed, assumption of linearity
 
diff --git a/src/radio_driver/radio_driver.cpp b/src/radio_driver/radio_driver.cpp
index 56a5d2c..dc1e358 100644
--- a/src/radio_driver/radio_driver.cpp
+++ b/src/radio_driver/radio_driver.cpp
@@ -96,8 +96,7 @@ void RadioDriver::joystickCallback(const sensor_msgs::Joy& msg) {
 
     // TODO: make this configurable
     // TODO: add turbo
-    // TODO: check this is the right range
-    joystick_velocity_ = -msg.axes[4] * max_speed_;
+    joystick_velocity_ = -msg.axes[3] * max_speed_;
     joystick_curvature_ = -msg.axes[0] * max_curvature_;
 
     static std_msgs::Bool autonomy_enabler_msg;
@@ -142,6 +141,7 @@ void RadioDriver::timerCallback(const ros::SteadyTimerEvent& event) {
         }
     }
 
+    // TODO: braking
     throttle = speedToThrottle(vel);
     steering = curvatureToSteering(curv);
 
diff --git a/src/radio_driver/radio_interface.cpp b/src/radio_driver/radio_interface.cpp
index 0567e81..394f3c4 100644
--- a/src/radio_driver/radio_interface.cpp
+++ b/src/radio_driver/radio_interface.cpp
@@ -46,7 +46,8 @@ void RadioInterface::commandToBuffer(float throttle, float steering) {
 
     // TODO: print these to see if they are correct
     uint32_t throttle_pwm = (throttle + 1) * (max_val - min_val) / 2 + min_val;
-    uint32_t steering_pwm = (steering + 1) * (max_val - min_val) / 2 + min_val;
+    uint32_t steering_pwm = (-steering + 1) * (max_val - min_val) / 2 + min_val;
+    LOG(INFO) << "Throttle: " << throttle_pwm << ", Steering: " << steering_pwm;
 
     if (throttle_pwm < min_val || throttle_pwm > max_val) {
         LOG(ERROR) << "Throttle command out of range: " << throttle_pwm;