Merge remote-tracking branch 'refs/remotes/origin/feature/joystick_in…

…terface_in_ros2' into feature/joystick_interface_in_ros2
vortexntnu · Feb 7, 2024 · 1c3a029 · 1c3a029
2 parents f2aab5f + 895598d
commit 1c3a029
Showing 1 changed file with 6 additions and 7 deletions.
diff --git a/mission/joystick_interface_auv/scripts/joystick_interface_auv.py b/mission/joystick_interface_auv/scripts/joystick_interface_auv.py
@@ -21,8 +21,8 @@ def __init__(self):
         )
 
         self.last_button_press_time_ = 0
-        self.debounce_duration_   = 0.25
-        self.state_       = States.NO_GO
+        self.debounce_duration_ = 0.25
+        self.state_ = States.NO_GO
 
         self.joystick_buttons_map_ = [
             "A",
@@ -170,11 +170,10 @@ def joystick_cb(self, msg: Joy) -> Wrench:
         left_shoulder = buttons["LB"]
         right_shoulder = buttons["RB"]
 
-        surge = axes[
-            "vertical_axis_left_stick"] * self.joystick_surge_scaling_
-        sway = axes[
-            "horizontal_axis_left_stick"] * self.joystick_sway_scaling_
-        heave = -(left_trigger - right_trigger)/2 * self.joystick_heave_scaling_
+        surge = axes["vertical_axis_left_stick"] * self.joystick_surge_scaling_
+        sway = axes["horizontal_axis_left_stick"] * self.joystick_sway_scaling_
+        heave = -(left_trigger -
+                  right_trigger) / 2 * self.joystick_heave_scaling_
         roll = (right_shoulder - left_shoulder) * self.joystick_roll_scaling_
         pitch = -axes[
             "vertical_axis_right_stick"] * self.joystick_pitch_scaling_