header with editmode button,

move savepose button to edit mode

Author: Kacpron123

kalman_gs/node_project/src/panels/arm.tsx

@@ -105,8 +105,8 @@ function isCloseEnough(jointsA: number[], jointsB: number[], maxDistance: number
 
 function ArmStatus({
     editMode
-  }: { 
-    editMode: boolean 
+  }: {
+    editMode: boolean
   }) {
   const [rerenderCount, setRerenderCount] = useState(0);
   const [linearScale, setLinearScale] = useState<number | null>(lastServoLinearScale);
@@ -211,11 +211,11 @@ function ArmStatus({
     if (!poseName) return;
 
     const currentValues = namesAndValues.map(joint => joint.value);
-    
+
     const savedPosesRaw = localStorage.getItem('custom_arm_poses');
     const savedPoses = savedPosesRaw ? JSON.parse(savedPosesRaw) : [];
-    
-    
+
+
     const newPose: ArmPose= {
       id: Date.now(),
       name: poseName,
@@ -324,14 +324,12 @@ function PoseRequester({
     onSelectPose: (pose: ArmPose) => void;
   }) {
   const [rerenderCount, setRerenderCount] = useState(0);
-<<<<<<< HEAD
   const keepAlive = useRef(false);
-=======
-  const [keepAlive, setKeepAlive] = useState(false);
+
+  // const [keepAlive, setKeepAlive] = useState(false);
   const [customPoses, setCustomPoses] = useState<ArmPose[]>([]);
 
 
->>>>>>> 9c33c1a (edit panel)
   const rerender = useCallback(() => {
     setRerenderCount((count) => count + 1);
   }, [setRerenderCount]);
@@ -376,13 +374,13 @@ function PoseRequester({
   }, []);
 
   const allPoses: ArmPose[] = [
-    ...predefinedPoses.poses.map((p) => ({ 
-      ...p, 
-      isCustom: false 
+    ...predefinedPoses.poses.map((p) => ({
+      ...p,
+      isCustom: false
     })),
-    ...customPoses.map((p) => ({ 
-      ...p, 
-      isCustom: true 
+    ...customPoses.map((p) => ({
+      ...p,
+      isCustom: true
     }))
   ];
 
@@ -466,9 +464,9 @@ function PoseRequester({
     reader.onload = (event) => {
       try {
         const importedData = JSON.parse(event.target?.result as string);
-        
+
         const importedArray = Array.isArray(importedData) ? importedData : [importedData];
-        
+
         const savedPosesRaw = localStorage.getItem('custom_arm_poses');
         let existingPoses: ArmPose[] = savedPosesRaw ? JSON.parse(savedPosesRaw) : [];
 
@@ -487,7 +485,7 @@ function PoseRequester({
         });
 
         localStorage.setItem('custom_arm_poses', JSON.stringify(existingPoses));
-        
+
         window.dispatchEvent(new Event('local-poses-update'));
         alert(`Successfully imported ${importedArray.length} pose(s).`);
       } catch (err) {
@@ -502,13 +500,13 @@ function PoseRequester({
     <div className={styles['pose-requester']}>
       <div className={styles['header-container']}>
         <h2 className={styles['pose-header']}>Pose Requester</h2>
-        
+
         {editMode && (<label className={styles['import-label']}>
-          <input 
-            type="file" 
-            accept=".json" 
-            style={{ display: 'none' }} 
-            onChange={handleImportSinglePose} 
+          <input
+            type="file"
+            accept=".json"
+            style={{ display: 'none' }}
+            onChange={handleImportSinglePose}
           />
           <div className={styles['joint-lock']} title="Import Pose JSON">
             <FontAwesomeIcon icon={faDownload} />
@@ -735,11 +733,11 @@ function EditPanel({
 
     const saved = JSON.parse(localStorage.getItem('custom_arm_poses') || '[]');
     const poseIndex = saved.findIndex((p: ArmPose) => p.id === pose.id);
-    
+
     if (poseIndex !== -1) {
       const updatedPose = { ...saved[poseIndex], [field]: value };
       saved[poseIndex] = updatedPose;
-      
+
       localStorage.setItem('custom_arm_poses', JSON.stringify(saved));
       window.dispatchEvent(new Event('local-poses-update'));
       onChangePose({ ...pose, [field]: value });
@@ -757,12 +755,12 @@ function EditPanel({
     const newArray = currentArray.includes(jointNum)
       ? currentArray.filter(n => n !== jointNum)
       : [...currentArray, jointNum].sort((a, b) => a - b);
-    
+
     updatePoseField(field, newArray);
   };
   function JointGrid(){
     interface Jointsprops {
-      data: any; 
+      data: any;
       name: string;
     };
     const JointCheckbox = ({data, name}: Jointsprops) => {
@@ -810,7 +808,7 @@ function EditPanel({
       </div>
       <JointGrid />
       <p className={styles['warn']} style={{ visibility: isReadOnly ? 'visible' : 'hidden' }}>⚠️ Predefined poses cannot be modified.</p>
-      
+
       <div className={styles['edit-actions']} style={{ opacity: isReadOnly ? 0.3 : 1, pointerEvents: isReadOnly ? 'none' : 'auto' }}>
         <div onClick={handleRename} className={styles['edit-button']}>Rename</div>
         <div onClick={handleDelete} className={styles['edit-button']}>
@@ -842,7 +840,7 @@ export default function Arms() {
     <div className={styles['arm-panel']}>
       <ArmStatus editMode={isEditMode} />
       <div className={styles['trajectory-and-pose']}>
-        <PoseRequester 
+        <PoseRequester
           editMode={isEditMode}
           onSelectPose={(pose) => setSelectedPose(pose)}
         />

kalman_gs/node_project/src/panels/index.ts

@@ -1,9 +1,6 @@
 import Arms from './arm';
-<<<<<<< HEAD
 import Camera2Dof from './camera-2dof';
-=======
 import ArmHeader from './arm.header';
->>>>>>> 6a5d02f (header with editmode button,)
 import Feeds from './feeds';
 import Imu from './imu';
 import Map from './map';

kalman_wheels/kalman_wheels/gamepad_driving_node.py

@@ -28,12 +28,24 @@ def __init__(self):
         self.last_drive_msg = Drive()
 
     def joy_cb(self, msg: Joy):
+        left_trigger = msg.axes[LEFT_TRIGGER]
+        right_trigger = msg.axes[RIGHT_TRIGGER]
+        if left_trigger == 0:
+            left_trigger = 1
+        if right_trigger == 0:
+            right_trigger = 1
+        # ^ Needed to avoid situation where gamepad after initialization might send 0s
+
         # Detect if turning in place.
         if msg.buttons[LEFT_SHOULDER] or msg.buttons[RIGHT_SHOULDER]:
             # Read input.
+<<<<<<< HEAD
             speed = (-msg.axes[LEFT_TRIGGER] * 0.5 + 0.5) - (
                 -msg.axes[RIGHT_TRIGGER] * 0.5 + 0.5
             )
+=======
+            speed = (-left_trigger * 0.5 + 0.5) - (-right_trigger * 0.5 + 0.5)
+>>>>>>> 0c56e8f (bug fix headless driving:)
             speed *= min(msg.buttons[LEFT_SHOULDER] + msg.buttons[RIGHT_SHOULDER], 1)
             if speed == 0:
                 speed = 0.0001
@@ -45,13 +57,19 @@ def joy_cb(self, msg: Joy):
             drive = Drive()
             drive.sin_angle = msg.axes[RIGHT_X]
             drive.inv_radius = msg.axes[LEFT_X] / self.turn_radius.value
+<<<<<<< HEAD
             drive.speed = (-msg.axes[RIGHT_TRIGGER] * 0.5 + 0.5) - (
                 -msg.axes[LEFT_TRIGGER] * 0.5 + 0.5
             )
 
         if self.drive_msg_is_zero(drive) and self.drive_msg_is_zero(
             self.last_drive_msg
         ):
+=======
+            drive.speed = (-right_trigger * 0.5 + 0.5) - (-left_trigger * 0.5 + 0.5)
+        
+        if self.drive_msg_is_zero(drive) and self.drive_msg_is_zero(self.last_drive_msg):
+>>>>>>> 0c56e8f (bug fix headless driving:)
             return
 
         self.last_drive_msg = drive