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servo value

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This commit is contained in:
acki
2025-12-19 16:09:40 +01:00
parent b802d22e54
commit 94b85ff942
9 changed files with 7 additions and 28 deletions
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4
src/modelec_strat/include/modelec_strat/action/base_action.hpp
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@@ -41,13 +41,9 @@ namespace Modelec
{
}
virtual ~BaseAction() = default;
virtual void Execute() = 0;
virtual void Next() = 0;
virtual bool IsDone() const { return done_; }
virtual void Init(const std::vector<std::string>& params) = 0;
// static constexpr std::string_view Name = "BaseAction";
static Ptr CreateAction(
const std::string& action_name,
const std::shared_ptr<ActionExecutor>& action_executor);

1
src/modelec_strat/include/modelec_strat/action/down_action.hpp
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@@ -11,7 +11,6 @@ namespace Modelec
DownAction(const std::shared_ptr<ActionExecutor>& action_executor);
DownAction(const std::shared_ptr<ActionExecutor>& action_executor, bool front);
void Execute() override;
void Next() override;
void Init(const std::vector<std::string>& params) override;
void SetFront(bool front);

1
src/modelec_strat/include/modelec_strat/action/free_action.hpp
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@@ -11,7 +11,6 @@ namespace Modelec
FreeAction(const std::shared_ptr<ActionExecutor>& action_executor);
FreeAction(const std::shared_ptr<ActionExecutor>& action_executor, bool front, int n);
void Execute() override;
void Next() override;
void Init(const std::vector<std::string>& params) override;
void SetFront(bool front);

2
src/modelec_strat/include/modelec_strat/action/take_action.hpp
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@@ -11,9 +11,9 @@ namespace Modelec
TakeAction(const std::shared_ptr<ActionExecutor>& action_executor);
TakeAction(const std::shared_ptr<ActionExecutor>& action_executor, bool front, int n);
void Execute() override;
void Next() override;
void Init(const std::vector<std::string>& params) override;
void Init(bool front, int n);
void SetFront(bool front);
void SetN(int n);

1
src/modelec_strat/include/modelec_strat/action/up_action.hpp
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@@ -11,7 +11,6 @@ namespace Modelec
UPAction(const std::shared_ptr<ActionExecutor>& action_executor);
UPAction(const std::shared_ptr<ActionExecutor>& action_executor, bool front);
void Execute() override;
void Next() override;
void Init(const std::vector<std::string>& params) override;
void SetFront(bool front);

4
src/modelec_strat/src/action/down_action.cpp
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@@ -13,10 +13,6 @@ Modelec::DownAction::DownAction(const std::shared_ptr<ActionExecutor>& action_ex
front_ = front;
}
void Modelec::DownAction::Execute()
{
}
void Modelec::DownAction::Next()
{
if (steps_.empty())

6
src/modelec_strat/src/action/free_action.cpp
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@@ -14,10 +14,6 @@ Modelec::FreeAction::FreeAction(const std::shared_ptr<ActionExecutor>& action_ex
n_ = n;
}
void Modelec::FreeAction::Execute()
{
}
void Modelec::FreeAction::Next()
{
if (steps_.empty())
@@ -38,7 +34,7 @@ void Modelec::FreeAction::Next()
msg.items.resize(1);
msg.items[0].id = n_ + (front_ ? 3 : 11);
msg.items[0].start_angle = front_ ? 2.7 : 0;
msg.items[0].start_angle = front_ ? 2.5 : 0;
msg.items[0].end_angle = front_ ? 0.8 : 0;
msg.items[0].duration_s = 0.5;
action_executor_->MoveServoTimed(msg);

10
src/modelec_strat/src/action/take_action.cpp
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@@ -4,8 +4,6 @@
Modelec::TakeAction::TakeAction(const std::shared_ptr<ActionExecutor>& action_executor) : BaseAction(action_executor)
{
steps_.push(ActionExec::TAKE_STEP);
steps_.push(ActionExec::DONE_STEP);
}
Modelec::TakeAction::TakeAction(const std::shared_ptr<ActionExecutor>& action_executor, bool front, int n) : TakeAction(action_executor)
@@ -14,10 +12,6 @@ Modelec::TakeAction::TakeAction(const std::shared_ptr<ActionExecutor>& action_ex
n_ = n;
}
void Modelec::TakeAction::Execute()
{
}
void Modelec::TakeAction::Next()
{
if (steps_.empty())
@@ -63,6 +57,10 @@ void Modelec::TakeAction::Init(const std::vector<std::string>& params)
}
}
void Modelec::TakeAction::Init(bool front, int n)
{
}
void Modelec::TakeAction::SetFront(bool front)
{
front_ = front;

6
src/modelec_strat/src/action/up_action.cpp
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@@ -13,10 +13,6 @@ Modelec::UPAction::UPAction(const std::shared_ptr<ActionExecutor>& action_execut
front_ = front;
}
void Modelec::UPAction::Execute()
{
}
void Modelec::UPAction::Next()
{
if (steps_.empty())
@@ -52,7 +48,7 @@ void Modelec::UPAction::Next()
msg.items[3].id = front_ ? 3 : 11;
msg.items[3].start_angle = front_ ? 3 : 0;
msg.items[3].end_angle = front_ ? 2.7 : 0;
msg.items[3].end_angle = front_ ? 2.5 : 0;
msg.items[3].duration_s = 1;
action_executor_->MoveServoTimed(msg);