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Refactor solar panel angle message publishing logic in game controller listener

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acki
2024-12-05 21:48:33 -05:00
parent 94ead3ea87
commit d5f0a729cd
1 changed files with 4 additions and 4 deletions
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8
src/modelec/src/gamecontroller_listener.cpp
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@@ -151,21 +151,21 @@ namespace Modelec {
if (msg->axes[2] != last_solar_1_angle) { if (msg->axes[2] != last_solar_1_angle) {
int solarPannelAngle = static_cast<int>(Modelec::mapValue(static_cast<float>(msg->axes[2]), -1.0f, 1.0f, solarPannelServos[0].startAngle, solarPannelServos[0].endAngle)); int solarPannelAngle = static_cast<int>(Modelec::mapValue(static_cast<float>(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.pin = solarPannelServos[0].pin;
solarPannelAngleMessage.angle = solarPannelAngle; solarPannelAngleMessage.angle = solarPannelAngle;
pca9685_publisher_->publish(solarPannelAngleMessage);*/ pca9685_publisher_->publish(solarPannelAngleMessage);
last_solar_1_angle = msg->axes[2]; 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<int>(Modelec::mapValue(static_cast<float>(msg->axes[5]), -1.0f, 1.0f, solarPannelServos[1].endAngle, solarPannelServos[1].startAngle)); int solarPannelAngle = static_cast<int>(Modelec::mapValue(static_cast<float>(msg->axes[5]), -1.0f, 1.0f, solarPannelServos[1].endAngle, solarPannelServos[1].startAngle));
auto solarPannelAngleMessage = modelec_interface::msg::PCA9685Servo(); auto solarPannelAngleMessage = modelec_interface::msg::PCA9685Servo();
solarPannelAngleMessage.pin = solarPannelServos[1].pin; solarPannelAngleMessage.pin = solarPannelServos[1].pin;
solarPannelAngleMessage.angle = solarPannelAngle; solarPannelAngleMessage.angle = solarPannelAngle;
pca9685_publisher_->publish(solarPannelAngleMessage); pca9685_publisher_->publish(solarPannelAngleMessage);
last_solar_2_angle = msg->axes[5]; last_solar_2_angle = msg->axes[5];
}*/ }
} }
} }