From d5f0a729cd8a1736bd3773745f83a026e94cb667 Mon Sep 17 00:00:00 2001 From: acki Date: Thu, 5 Dec 2024 21:48:33 -0500 Subject: [PATCH] Refactor solar panel angle message publishing logic in game controller listener --- src/modelec/src/gamecontroller_listener.cpp | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/src/modelec/src/gamecontroller_listener.cpp b/src/modelec/src/gamecontroller_listener.cpp index 2590882..06aa250 100644 --- a/src/modelec/src/gamecontroller_listener.cpp +++ b/src/modelec/src/gamecontroller_listener.cpp @@ -151,21 +151,21 @@ namespace Modelec { if (msg->axes[2] != last_solar_1_angle) { int solarPannelAngle = static_cast(Modelec::mapValue(static_cast(msg->axes[2]), -1.0f, 1.0f, solarPannelServos[0].startAngle, solarPannelServos[0].endAngle)); - /*auto solarPannelAngleMessage = modelec_interface::msg::PCA9685Servo(); + auto solarPannelAngleMessage = modelec_interface::msg::PCA9685Servo(); solarPannelAngleMessage.pin = solarPannelServos[0].pin; solarPannelAngleMessage.angle = solarPannelAngle; - pca9685_publisher_->publish(solarPannelAngleMessage);*/ + pca9685_publisher_->publish(solarPannelAngleMessage); last_solar_1_angle = msg->axes[2]; } - /*if (msg->axes[5] != last_solar_2_angle) { + if (msg->axes[5] != last_solar_2_angle) { int solarPannelAngle = static_cast(Modelec::mapValue(static_cast(msg->axes[5]), -1.0f, 1.0f, solarPannelServos[1].endAngle, solarPannelServos[1].startAngle)); auto solarPannelAngleMessage = modelec_interface::msg::PCA9685Servo(); solarPannelAngleMessage.pin = solarPannelServos[1].pin; solarPannelAngleMessage.angle = solarPannelAngle; pca9685_publisher_->publish(solarPannelAngleMessage); last_solar_2_angle = msg->axes[5]; - }*/ + } } }