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Changes #7

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30 changes: 15 additions & 15 deletions src/keyboard_controller.py
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Original file line number Diff line number Diff line change
Expand Up @@ -14,32 +14,32 @@
from drone_video_display import DroneVideoDisplay

# Finally the GUI libraries
from PySide import QtCore, QtGui
from PyQt4 import QtCore, QtGui


# Here we define the keyboard map for our controller (note that python has no enums, so we use a class)
class KeyMapping(object):
PitchForward = QtCore.Qt.Key.Key_E
PitchBackward = QtCore.Qt.Key.Key_D
RollLeft = QtCore.Qt.Key.Key_S
RollRight = QtCore.Qt.Key.Key_F
YawLeft = QtCore.Qt.Key.Key_W
YawRight = QtCore.Qt.Key.Key_R
IncreaseAltitude = QtCore.Qt.Key.Key_Q
DecreaseAltitude = QtCore.Qt.Key.Key_A
Takeoff = QtCore.Qt.Key.Key_Y
Land = QtCore.Qt.Key.Key_H
Emergency = QtCore.Qt.Key.Key_Space
PitchForward = QtCore.Qt.Key_E
PitchBackward = QtCore.Qt.Key_D
RollLeft = QtCore.Qt.Key_S
RollRight = QtCore.Qt.Key_F
YawLeft = QtCore.Qt.Key_W
YawRight = QtCore.Qt.Key_R
IncreaseAltitude = QtCore.Qt.Key_Q
DecreaseAltitude = QtCore.Qt.Key_A
Takeoff = QtCore.Qt.Key_Y
Land = QtCore.Qt.Key_H
Emergency = QtCore.Qt.Key_Space


# Our controller definition, note that we extend the DroneVideoDisplay class
class KeyboardController(DroneVideoDisplay):
def __init__(self):
super(KeyboardController,self).__init__()

self.pitch = 0
self.roll = 0
self.yaw_velocity = 0
self.yaw_velocity = 0
self.z_velocity = 0

# We add a keyboard handler to the DroneVideoDisplay to react to keypresses
Expand Down Expand Up @@ -131,4 +131,4 @@ def keyReleaseEvent(self,event):

# and only progresses to here once the application has been shutdown
rospy.signal_shutdown('Great Flying!')
sys.exit(status)
sys.exit(status)