modelec/modelec-marcel-ROS
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stick to

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This commit is contained in:
acki
2025-05-29 07:24:34 -04:00
parent 98c454537d
commit c33ba8ace5
1 changed files with 21 additions and 1 deletions
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22
src/modelec_strat/src/action_executor.cpp
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@@ -237,12 +237,32 @@ namespace Modelec
break;
case STICK_ALL:
{
modelec_interfaces::msg::ActionRelayState relay_top_msg;
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;
relay_bottom_msg.id = 1;
relay_move_pub_->publish(relay_bottom_msg);
modelec_interfaces::msg::ActionServoPos first_pot_msg;
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;
fourth_pot_msg.pos = 0;
servo_move_pub_->publish(fourth_pot_msg);
modelec_interfaces::msg::ActionServoPos top_pot_msg;
top_pot_msg.id = 4;
top_pot_msg.pos = 0;
servo_move_pub_->publish(top_pot_msg);
step_running_ = 1;
step_running_ = 5;
}
break;