From 507020eda157bb48c46ceaf2cf7e6ca48bf3b3f5 Mon Sep 17 00:00:00 2001 From: acki Date: Thu, 18 Dec 2025 20:36:29 +0100 Subject: [PATCH] servo value --- src/modelec_strat/src/action/down_action.cpp | 10 ++++++++++ src/modelec_strat/src/action/up_action.cpp | 10 ++++++++++ 2 files changed, 20 insertions(+) diff --git a/src/modelec_strat/src/action/down_action.cpp b/src/modelec_strat/src/action/down_action.cpp index e45466b..13b7ec5 100644 --- a/src/modelec_strat/src/action/down_action.cpp +++ b/src/modelec_strat/src/action/down_action.cpp @@ -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; diff --git a/src/modelec_strat/src/action/up_action.cpp b/src/modelec_strat/src/action/up_action.cpp index b8273ab..7e48400 100644 --- a/src/modelec_strat/src/action/up_action.cpp +++ b/src/modelec_strat/src/action/up_action.cpp @@ -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;