modelec/modelec-marcel-ROS
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action v1

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This commit is contained in:
acki
2025-05-15 20:39:22 -04:00
parent 394a90b3f9
commit a2af5c0916
7 changed files with 57 additions and 53 deletions
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17
simulated_pcb/action.py
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@@ -12,10 +12,10 @@ class SimulatedPCB:
self.last_update = time.time()
# État simulé
self.servos = {} # {id: pos_index}
self.servo_angles = {} # {id: {pos_index: angle}}
self.relais = {1: 0, 2: 0, 3: 0}
self.ascenseur_pos = "low" # 'low', 'climb', 'high', 'desc'
self.servos = {0: 0, 1: 0, 2: 0, 3: 0, 4: 0, 5: 0, } # {id: pos_index}
self.servo_angles = {0: {0: 0, 1: 0, 3: 0}, 1: {0: 0, 1: 0, 3: 0}, 2: {0: 0, 1: 0, 3: 0}, 3: {0: 0, 1: 0, 3: 0}, 4: {0: 0, 1: 0, 3: 0}, 5: {0: 0, 1: 0, 3: 0}, } # {id: {pos_index: angle}}
self.relais = {1: 0, 2: 0}
self.ascenseur_pos = 0
self.fin_course = {} # à implémenter si besoin
self.tirette_arm = False
@@ -73,7 +73,7 @@ class SimulatedPCB:
self.servo_angles[sid][pos_index] = angle
self.send_response(f"OK;{category};{data};{val}")
elif category == "ASC" and data in ("HIGH", "LOW"):
elif category == "ASC":
self.send_response(f"OK;ASC;{data};{val}")
else:
self.send_response(f"KO;{category};{data};{val}")
@@ -85,11 +85,8 @@ class SimulatedPCB:
category, data = parts[1], parts[2]
if category == "ASC":
if data in ("HIGH", "LOW"):
self.ascenseur_pos = data.lower()
self.send_response(f"OK;{category};{data}")
else:
self.send_response(f"KO;{category};{data}")
self.ascenseur_pos = data
self.send_response(f"OK;{category};{data}")
elif category.startswith("SERVO") and data.startswith("POS"):
sid = int(category[5:])
pos_index = int(data[3:])