modelec/modelec-marcel-ROS
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servo value

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acki
2025-12-18 20:36:29 +01:00
parent bcfdb94f49
commit 507020eda1
2 changed files with 20 additions and 0 deletions
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10
src/modelec_strat/src/action/down_action.cpp
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@@ -45,6 +45,16 @@ void Modelec::DownAction::Next()
msg.items[1].end_angle = front_ ? 1.9 : 0;
msg.items[1].duration_s = 1;
msg.items[1].id = front_ ? 2 : 10;
msg.items[1].start_angle = front_ ? 0.3 : 0;
msg.items[1].end_angle = front_ ? 0 : 0;
msg.items[1].duration_s = 1;
msg.items[1].id = front_ ? 3 : 11;
msg.items[1].start_angle = front_ ? 2.7 : 0;
msg.items[1].end_angle = front_ ? 3 : 0;
msg.items[1].duration_s = 1;
action_executor_->MoveServoTimed(msg);
}
break;

10
src/modelec_strat/src/action/up_action.cpp
View File

@@ -45,6 +45,16 @@ void Modelec::UPAction::Next()
msg.items[1].end_angle = front_ ? 1.9 : 0;
msg.items[1].duration_s = 1;
msg.items[1].id = front_ ? 2 : 10;
msg.items[1].start_angle = front_ ? 0 : 0;
msg.items[1].end_angle = front_ ? 0.3 : 0;
msg.items[1].duration_s = 1;
msg.items[1].id = front_ ? 3 : 11;
msg.items[1].start_angle = front_ ? 3 : 0;
msg.items[1].end_angle = front_ ? 2.7 : 0;
msg.items[1].duration_s = 1;
action_executor_->MoveServoTimed(msg);
}
break;