Added Config.py

rover_controller.py

@@ -16,6 +16,14 @@ from geometry_msgs.msg import Twist, Point
 from std_msgs.msg import String
 import json
 
+# Load configuration
+try:
+    from config import ROVER
+    CONFIG_LOADED = True
+except ImportError:
+    CONFIG_LOADED = False
+    ROVER = {"default_pattern": "stationary", "default_speed": 0.5, "default_amplitude": 2.0}
+
 
 class MovementPattern(Enum):
     STATIONARY = "stationary"
@@ -28,21 +36,22 @@ class MovementPattern(Enum):
 class RoverController(Node):
     """Controls the rover movement."""
 
-    DEFAULT_PATTERN = MovementPattern.STATIONARY
-    DEFAULT_SPEED = 0.5
-    DEFAULT_AMPLITUDE = 2.0
-    CONTROL_RATE = 50.0
-    MAX_X = 5.0
-    MAX_Y = 5.0
-
     def __init__(
         self,
-        pattern: MovementPattern = DEFAULT_PATTERN,
-        speed: float = DEFAULT_SPEED,
-        amplitude: float = DEFAULT_AMPLITUDE
+        pattern: MovementPattern = None,
+        speed: float = None,
+        amplitude: float = None
     ):
         super().__init__('rover_controller')
         
+        # Use config defaults if not specified
+        if pattern is None:
+            pattern = MovementPattern(ROVER.get("default_pattern", "stationary"))
+        if speed is None:
+            speed = ROVER.get("default_speed", 0.5)
+        if amplitude is None:
+            amplitude = ROVER.get("default_amplitude", 2.0)
+        
         self._pattern = pattern
         self._speed = speed
         self._amplitude = amplitude
@@ -55,6 +64,9 @@ class RoverController(Node):
         self._target_y = 0.0
         self._random_timer = 0.0
         self._square_segment = 0
+        self._control_rate = 50.0
+        self._max_x = 5.0
+        self._max_y = 5.0
         
         self.get_logger().info('=' * 50)
         self.get_logger().info('Rover Controller Starting...')
@@ -69,21 +81,21 @@ class RoverController(Node):
         
         self.get_logger().info('  Publishing to: /rover/cmd_vel, /rover/position, /rover/telemetry')
         
-        control_period = 1.0 / self.CONTROL_RATE
+        control_period = 1.0 / self._control_rate
         self._control_timer = self.create_timer(control_period, self._control_loop)
         
         self.get_logger().info('Rover Controller Ready!')
 
     def _control_loop(self) -> None:
-        dt = 1.0 / self.CONTROL_RATE
+        dt = 1.0 / self._control_rate
         self._time += dt
         
         vel_x, vel_y = self._calculate_velocity()
         
         self._position.x += vel_x * dt
         self._position.y += vel_y * dt
-        self._position.x = max(-self.MAX_X, min(self.MAX_X, self._position.x))
-        self._position.y = max(-self.MAX_Y, min(self.MAX_Y, self._position.y))
+        self._position.x = max(-self._max_x, min(self._max_x, self._position.x))
+        self._position.y = max(-self._max_y, min(self._max_y, self._position.y))
         
         cmd = Twist()
         cmd.linear.x = vel_x
@@ -148,7 +160,7 @@ class RoverController(Node):
         return (vel_x, vel_y)
 
     def _pattern_random(self) -> Tuple[float, float]:
-        dt = 1.0 / self.CONTROL_RATE
+        dt = 1.0 / self._control_rate
         self._random_timer += dt
         if self._random_timer >= 3.0:
             self._random_timer = 0.0