modelec/modelec-marcel-ROS
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This commit is contained in:
acki
2025-12-11 18:59:43 +01:00
parent 4e277ef0ca
commit 85911bbb97
2 changed files with 11 additions and 11 deletions
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18
src/modelec_com/src/pcb_action_interface.cpp
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@@ -138,18 +138,18 @@ namespace Modelec
// TODO : check for real value there
asc_value_mapper_ = {
/*asc_value_mapper_ = {
{0, 0},
{1, 100},
{2, 200},
{3, 300}
};
};*/
/*for (auto & [id, v] : asc_value_mapper_)
{
SendOrder("ASC", {std::to_string(id), std::to_string(v)});
}*/
asc_state_ = 3;
// asc_state_ = 3;
// SendMove("ASC", {std::to_string(asc_state_)});
@@ -190,22 +190,18 @@ namespace Modelec
SendMove("SERVO" + std::to_string(id), {"POS" + std::to_string(v)});
}
relay_value_ = {
/*relay_value_ = {
{1, false},
{2, false},
{3, false},
};
};*/
for (auto & [id, v] : relay_value_)
/*for (auto & [id, v] : relay_value_)
{
rclcpp::sleep_for(std::chrono::milliseconds(100));
SendMove("RELAY" + std::to_string(id), {std::to_string(v)});
}
rclcpp::sleep_for(std::chrono::milliseconds(100));
SendOrder("TIR", {"ARM", "1"});
}*/
}
PCBActionInterface::~PCBActionInterface()

4
src/modelec_strat/src/strat_fms.cpp
View File

@@ -128,6 +128,10 @@ namespace Modelec
{
started_ = false;
std_msgs::msg::Bool arm_msg;
arm_msg.data = true;
tir_arm_set_pub_->publish(arm_msg);
Transition(State::WAIT_START, "System ready");
}
break;