VirtualJoystick example with STATE_MANUAL_ACTIVE

edgarriba · December 3, 2022, 3:29pm

hi, I’m trying the VirtualJoystick example:

By default, the canbus requires STATE_AUTO_ACTIVE

I’m trying to see the different possibilites and run with STATE_MANUAL_ACTIVE. Is that event possible ? Main reason is that I wanted to see if you could pass the barrier to manually activate the robot control by code.

My current I’m currently launching the app via wifi connection as follows:

python3 main.py --address 192.168.1.140 --camera-port 50051 --canbus-port 50060

Also I’m seeing that the velocities are zeros when i press the joystick in any direction. Is that normal ?

ethanrublee · December 3, 2022, 10:07pm

By design, you can’t switch the Amiga’s Dashboard into AUTO_ACTIVE unless a user has pressed a button on the touch screen to make the Dashboard enter the AUTO_READY state. See Amiga Control States | Farm-ng Developers

This is really a safety issue; the machine can’t be controlled by another computer until an operator confirms that this is the intent.

edgarriba · December 5, 2022, 7:53am

I see, thanks for the answer.

I was confused by the meaning of state_req parameter in the sender canbus message.

github.com

farm-ng/farm-ng-amiga/blob/main/py/examples/virtual_joystick/main.py#L359


      
          
          
async def pose_generator(self, period: float = 0.02):
              """The pose generator yields an AmigaRpdo1 (auto control command) for the canbus client to send on the bus
              at the specified period (recommended 50hz) based on the onscreen joystick position."""
              while self.root is None:
                  await asyncio.sleep(0.01)
          
          
    joystick: VirtualJoystickWidget = self.root.ids["joystick"]
              while True:
                  msg: canbus_pb2.RawCanbusMessage = make_amiga_rpdo1_proto(
                      state_req=AmigaControlState.STATE_AUTO_ACTIVE,
                      cmd_speed=self.max_speed * joystick.joystick_pose.y,
                      cmd_ang_rate=self.max_angular_rate * -joystick.joystick_pose.x,
                  )
                  yield canbus_pb2.SendCanbusMessageRequest(message=msg)
                  await asyncio.sleep(period)
          
          
async def draw(self) -> None:
              """Loop over drawing the VirtualJoystickWidget."""
              while self.root is None:
                  await asyncio.sleep(0.01)

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VirtualJoystick example with STATE_MANUAL_ACTIVE

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