2022-07-20 11:20:01 +08:00
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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/joystick_common.h"
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2022-09-13 19:52:44 +08:00
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#define CTRL_BY_ALIENGO_JOYSTICK
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#ifdef CTRL_BY_ALIENGO_JOYSTICK
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#include "unitree_arm_sdk/common/aliengo_common.h"
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#else
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#include "unitree_arm_sdk/common/b1_common.h"
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#endif
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2022-07-20 11:20:01 +08:00
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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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2022-09-19 17:08:57 +08:00
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SendCmd getSendCmd(){return _sendCmd;};
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2022-07-20 11:20:01 +08:00
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private:
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2022-09-19 17:08:57 +08:00
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SendCmd _sendCmd;
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2022-07-20 11:20:01 +08:00
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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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