29 lines
701 B
C
29 lines
701 B
C
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#ifndef _UNITREE_ARM_JOYSTICK_H_
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#define _UNITREE_ARM_JOYSTICK_H_
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#include <vector>
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#include "unitree_arm_sdk/udp.h"
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#include "unitree_arm_sdk/cmdPanel.h"
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#include "unitree_arm_sdk/common/quadruped_common.h"
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#include "unitree_arm_sdk/common/joystick_common.h"
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using namespace UNITREE_LEGGED_SDK;
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class UnitreeJoystick : public CmdPanel{
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public:
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UnitreeJoystick(std::vector<KeyAction*> events,
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EmptyAction emptyAction, size_t channelNum = 1,
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double dt = 0.002);
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~UnitreeJoystick();
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private:
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void _read();
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void _extractCmd();
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xRockerBtnDataStruct _keyData;
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UDPPort *_udp;
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HighCmd _udpCmd;
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HighState _udpState;
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};
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#endif // _UNITREE_ARM_JOYSTICK_H_
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