Joystick

Custom controller for use with teleop_twist_joy. features are one button for activation and a two axis joystick for velocity and steering.

hardware

• JH-D202X-R4
• LA16 18mm square

blue pill

• FreeJoy
• R10 needs to be 1k5
• serial programming not possible via boot0?
  • SWD should work -> custom header for J-link
• ros2 doesn't recoginse the joystick if it has only one button
  • feature of SDL from what I know

pin	function
PA11	USB-
PA12	USB+
PA0	x axis
PA1	y axis
PA2	button
PA3	illumination

teleop_twist_joy

parameters=[{
    'axis_linear':{'x':1},
    'scale_linear':{'x':1.0},
    'axis_angular':{'yaw':0},
    'scale_angular':{'yaw':0.7},
    'enable_button':0,
}]