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servo value

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This commit is contained in:
acki
2025-05-28 16:59:07 -04:00
parent 5d1ff1c71c
commit 7dcf2c2430
3 changed files with 33 additions and 37 deletions
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6
src/modelec_com/include/modelec_com/pcb_action_interface.hpp
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@@ -23,11 +23,7 @@ namespace Modelec
protected:
std::map<int, int> asc_value_mapper_;
std::map<int, std::map<int, int>> servo_pos_mapper_ = {
{0, {{0, 0}, {1, 0}, {2, 0}, {3, 0}}},
{1, {{0, 0}, {1, 0}, {2, 0}, {3, 0}}},
{2, {{0, 0}, {1, 0}, {2, 0}, {3, 0}}}
};
std::map<int, std::map<int, double>> servo_pos_mapper_;
int asc_state_ = 0;
std::map<int, int> servo_value_;

6
src/modelec_com/src/pcb_action_interface.cpp
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@@ -205,10 +205,10 @@ namespace Modelec
servo_pos_mapper_ = {
{0, {{0, M_PI_2}}},
{1, {{0, M_PI_2}}},
{1, {{0, 0}, {1, 0.4}}},
{2, {{0, M_PI_2}}},
{3, {{0, M_PI_2}}},
{4, {{0, M_PI_2}}},
{4, {{0, 1.25}, {1, 0.45}}},
{5, {{0, M_PI_2}}},
};
@@ -216,7 +216,7 @@ namespace Modelec
{
for (auto & [key, angle] : v)
{
SendOrder("SERVO" + std::to_string(id), {"POS" + std::to_string(key), std::to_string(angle)});
SendOrder("SERVO" + std::to_string(id), {"POS" + std::to_string(key), std::to_string(static_cast<int>(angle * 100))});
}
}

58
src/modelec_strat/src/action_executor.cpp
View File

@@ -105,7 +105,7 @@ namespace Modelec
case DEPLOY_BANNER_STEP:
{
modelec_interfaces::msg::ActionServoPos msg;
msg.id = 5; // TODO : to define
msg.id = 5;
msg.pos = 1;
servo_move_pub_->publish(msg);
@@ -120,7 +120,7 @@ namespace Modelec
asc_move_pub_->publish(asc_msg);
modelec_interfaces::msg::ActionServoPos servo_action_bottom_msg;
servo_action_bottom_msg.id = 4; // TODO : to define
servo_action_bottom_msg.id = 4;
servo_action_bottom_msg.pos = 1;
servo_move_pub_->publish(servo_action_bottom_msg);
@@ -131,23 +131,23 @@ namespace Modelec
case STICK_TO_STRUCT:
{
modelec_interfaces::msg::ActionRelayState relay_top_msg;
relay_top_msg.state = true; // TODO : check that
relay_top_msg.state = true;
relay_top_msg.id = 2;
relay_move_pub_->publish(relay_top_msg);
modelec_interfaces::msg::ActionRelayState relay_bottom_msg;
relay_bottom_msg.state = true; // TODO : check that
relay_bottom_msg.state = true;
relay_bottom_msg.id = 1;
relay_move_pub_->publish(relay_bottom_msg);
modelec_interfaces::msg::ActionServoPos first_pot_msg;
first_pot_msg.id = 0; // TODO : to define
first_pot_msg.pos = 1;
first_pot_msg.id = 0;
first_pot_msg.pos = 0;
servo_move_pub_->publish(first_pot_msg);
modelec_interfaces::msg::ActionServoPos fourth_pot_msg;
fourth_pot_msg.id = 1; // TODO : to define
fourth_pot_msg.pos = 1;
fourth_pot_msg.id = 1;
fourth_pot_msg.pos = 0;
servo_move_pub_->publish(fourth_pot_msg);
step_running_ = 4;
@@ -167,7 +167,7 @@ namespace Modelec
case RETRACT_BOTTOM_PLATE:
{
modelec_interfaces::msg::ActionServoPos servo_action_bottom_msg;
servo_action_bottom_msg.id = 2; // TODO : to define
servo_action_bottom_msg.id = 2;
servo_action_bottom_msg.pos = 2;
servo_move_pub_->publish(servo_action_bottom_msg);
@@ -187,17 +187,12 @@ namespace Modelec
break;
case STICK_POT:
{
modelec_interfaces::msg::ActionRelayState relay_top_msg;
relay_top_msg.state = true; // TODO : check that
relay_top_msg.id = 2;
relay_move_pub_->publish(relay_top_msg);
modelec_interfaces::msg::ActionServoPos top_pot_msg;
top_pot_msg.id = 4; // TODO : to define
top_pot_msg.pos = 1;
top_pot_msg.id = 4;
top_pot_msg.pos = 0;
servo_move_pub_->publish(top_pot_msg);
step_running_ = 2;
step_running_ = 1;
}
break;
@@ -207,14 +202,19 @@ namespace Modelec
asc_msg.pos = 3;
asc_move_pub_->publish(asc_msg);
step_running_ = 1;
modelec_interfaces::msg::ActionServoPos top_pot_msg;
top_pot_msg.id = 4;
top_pot_msg.pos = 1;
servo_move_pub_->publish(top_pot_msg);
step_running_ = 2;
}
break;
case PLACE_FIRST_PLATE:
{
modelec_interfaces::msg::ActionServoPos action_bottom_msg;
action_bottom_msg.id = 2; // TODO : to define
action_bottom_msg.id = 2;
action_bottom_msg.pos = 0;
servo_move_pub_->publish(action_bottom_msg);
@@ -225,8 +225,8 @@ namespace Modelec
case STICK_ALL:
{
modelec_interfaces::msg::ActionServoPos top_pot_msg;
top_pot_msg.id = 4; // TODO : to define
top_pot_msg.pos = 1;
top_pot_msg.id = 4;
top_pot_msg.pos = 0;
servo_move_pub_->publish(top_pot_msg);
step_running_ = 1;
@@ -246,27 +246,27 @@ namespace Modelec
case FREE_ALL:
{
modelec_interfaces::msg::ActionRelayState relay_top_msg;
relay_top_msg.state = false; // TODO : check that
relay_top_msg.state = false;
relay_top_msg.id = 2;
relay_move_pub_->publish(relay_top_msg);
modelec_interfaces::msg::ActionRelayState relay_bottom_msg;
relay_bottom_msg.state = false; // TODO : check that
relay_bottom_msg.state = false;
relay_bottom_msg.id = 1;
relay_move_pub_->publish(relay_bottom_msg);
modelec_interfaces::msg::ActionServoPos first_pot_msg;
first_pot_msg.id = 0; // TODO : to define
first_pot_msg.pos = 0;
first_pot_msg.id = 0;
first_pot_msg.pos = 1;
servo_move_pub_->publish(first_pot_msg);
modelec_interfaces::msg::ActionServoPos second_pot_msg;
second_pot_msg.id = 1; // TODO : to define
second_pot_msg.pos = 0;
second_pot_msg.id = 1;
second_pot_msg.pos = 1;
servo_move_pub_->publish(second_pot_msg);
modelec_interfaces::msg::ActionServoPos top_pot_msg;
top_pot_msg.id = 4; // TODO : to define
top_pot_msg.id = 4;
top_pot_msg.pos = 0;
servo_move_pub_->publish(top_pot_msg);
@@ -281,7 +281,7 @@ namespace Modelec
asc_move_pub_->publish(asc_msg);
modelec_interfaces::msg::ActionServoPos servo_action_bottom_msg;
servo_action_bottom_msg.id = 3; // TODO : to define
servo_action_bottom_msg.id = 3;
servo_action_bottom_msg.pos = 0;
servo_move_pub_->publish(servo_action_bottom_msg);