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servo value

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acki
2025-12-18 18:22:16 +01:00
parent c2711a153c
commit e92b128c41
3 changed files with 28 additions and 28 deletions
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8
src/modelec_com/src/pcb_action_interface.cpp
View File

@@ -263,10 +263,10 @@ namespace Modelec
};*/
servo_value_ = {
{0, 0},
{1, 3},
{2, 1.45},
{3, 1.6},
{0, 2.95},
{1, 0.93},
{2, 3},
{3, 0},
{4, 0},
};

24
src/modelec_strat/src/action/down_action.cpp
View File

@@ -36,24 +36,24 @@ void Modelec::DownAction::Next()
msg.items.resize(4);
msg.items[0].id = front_ ? 0 : 8;
msg.items[0].start_angle = front_ ? 1.49 : 0;
msg.items[0].end_angle = front_ ? 0 : 0;
msg.items[0].duration_s = 1;
msg.items[0].start_angle = front_ ? 1.95 : 0;
msg.items[0].end_angle = front_ ? 2.95 : 0;
msg.items[0].duration_s = 5;
msg.items[1].id = front_ ? 1 : 9;
msg.items[1].start_angle = front_ ? 1.5 : 0;
msg.items[1].end_angle = front_ ? 3 : 0;
msg.items[1].duration_s = 1;
msg.items[1].start_angle = front_ ? 1.9 : 0;
msg.items[1].end_angle = front_ ? 0.93 : 0;
msg.items[1].duration_s = 5;
msg.items[2].id = front_ ? 2 : 10;
msg.items[2].start_angle = front_ ? 3 : 0;
msg.items[2].end_angle = front_ ? 1.45 : 0;
msg.items[2].duration_s = 1;
msg.items[2].start_angle = front_ ? 2.3 : 0;
msg.items[2].end_angle = front_ ? 3 : 0;
msg.items[2].duration_s = 5;
msg.items[3].id = front_ ? 3 : 11;
msg.items[3].start_angle = front_ ? 0 : 0;
msg.items[3].end_angle = front_ ? 1.6 : 0;
msg.items[3].duration_s = 1;
msg.items[3].start_angle = front_ ? 0.8 : 0;
msg.items[3].end_angle = front_ ? 0 : 0;
msg.items[3].duration_s = 5;
action_executor_->MoveServoTimed(msg);
}

24
src/modelec_strat/src/action/up_action.cpp
View File

@@ -36,24 +36,24 @@ void Modelec::UPAction::Next()
msg.items.resize(4);
msg.items[0].id = front_ ? 0 : 8;
msg.items[0].start_angle = front_ ? 0 : 0;
msg.items[0].end_angle = front_ ? 1.49 : 0;
msg.items[0].duration_s = 1;
msg.items[0].start_angle = front_ ? 2.95 : 0;
msg.items[0].end_angle = front_ ? 1.95 : 0;
msg.items[0].duration_s = 5;
msg.items[1].id = front_ ? 1 : 9;
msg.items[1].start_angle = front_ ? 3 : 0;
msg.items[1].end_angle = front_ ? 1.5 : 0;
msg.items[1].duration_s = 1;
msg.items[1].start_angle = front_ ? 0.93 : 0;
msg.items[1].end_angle = front_ ? 1.9 : 0;
msg.items[1].duration_s = 5;
msg.items[2].id = front_ ? 2 : 10;
msg.items[2].start_angle = front_ ? 1.45 : 0;
msg.items[2].end_angle = front_ ? 3 : 0;
msg.items[2].duration_s = 1;
msg.items[2].start_angle = front_ ? 3 : 0;
msg.items[2].end_angle = front_ ? 2.3 : 0;
msg.items[2].duration_s = 5;
msg.items[3].id = front_ ? 3 : 11;
msg.items[3].start_angle = front_ ? 1.6 : 0;
msg.items[3].end_angle = front_ ? 0 : 0;
msg.items[3].duration_s = 1;
msg.items[3].start_angle = front_ ? 0 : 0;
msg.items[3].end_angle = front_ ? 0.8 : 0;
msg.items[3].duration_s = 5;
action_executor_->MoveServoTimed(msg);
}