modelec/modelec-marcel-ROS
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modelec
2024-12-06 19:22:38 +01:00
parent 104694b1ae
commit 7dcef2b7f0
1 changed files with 8 additions and 3 deletions
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11
src/modelec/src/arm_controller.cpp
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@@ -46,10 +46,15 @@ namespace Modelec {
return;
}
RCLCPP_INFO(this->get_logger(), "Control pince %d to mode %d", msg->pin, msg->mode);
auto message = modelec_interface::msg::PCA9685Servo();
message.pin = pince.pin;
message.angle = pince.angles[msg->mode];
publisher_->publish(message);
RCLCPP_INFO(this->get_logger(), "Pince %d set to mode %d", msg->pin, msg->mode);
pince_pins[msg->pin].mode = msg->mode;
}
@@ -78,9 +83,9 @@ namespace Modelec {
} else if (arm.mode == Mode::ARM_TOP && msg->mode == Mode::ARM_MIDDLE) {
direction = -1;
}
/*
int startAngle = arm.pins[ARM_1_PIN][arm.mode];
for (int angle = startAngle; angle != arm.pins[ARM_1_PIN][msg->mode]; angle += 2 * direction) {
for (int angle = startAngle; angle <= arm.pins[ARM_1_PIN][msg->mode]; angle += 2 * direction) {
auto message = modelec_interface::msg::PCA9685Servo();
message.pin = ARM_1_PIN;
message.angle = angle;
@@ -99,7 +104,7 @@ namespace Modelec {
message.pin = ARM_2_PIN;
message.angle = arm.pins[ARM_2_PIN][msg->mode];
publisher_->publish(message);
publisher_->publish(message);*/
}
}