modelec/modelec-marcel-ROS
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servo id

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This commit is contained in:
acki
2025-05-28 13:55:02 -04:00
parent b18a796dae
commit ebfbf22083
2 changed files with 20 additions and 48 deletions
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6
src/modelec_com/src/pcb_action_interface.cpp
View File

@@ -208,7 +208,8 @@ namespace Modelec
{1, {{0, M_PI_2}}}, {1, {{0, M_PI_2}}},
{2, {{0, M_PI_2}}}, {2, {{0, M_PI_2}}},
{3, {{0, M_PI_2}}}, {3, {{0, M_PI_2}}},
{4, {{0, M_PI_2}, {1, -M_PI_2}, {2, PI}}}, {4, {{0, M_PI_2}}},
{5, {{0, M_PI_2}}},
}; };
for (auto & [id, v] : servo_pos_mapper_) for (auto & [id, v] : servo_pos_mapper_)
@@ -224,7 +225,8 @@ namespace Modelec
{1, 0}, {1, 0},
{2, 0}, {2, 0},
{3, 0}, {3, 0},
{4, 0} {4, 0},
{5, 0}
}; };
for (auto & [id, v] : servo_value_) for (auto & [id, v] : servo_value_)

62
src/modelec_strat/src/action_executor.cpp
View File

@@ -146,7 +146,7 @@ namespace Modelec
servo_move_pub_->publish(first_pot_msg); servo_move_pub_->publish(first_pot_msg);
modelec_interfaces::msg::ActionServoPos fourth_pot_msg; modelec_interfaces::msg::ActionServoPos fourth_pot_msg;
fourth_pot_msg.id = 3; // TODO : to define fourth_pot_msg.id = 1; // TODO : to define
fourth_pot_msg.pos = 1; fourth_pot_msg.pos = 1;
servo_move_pub_->publish(fourth_pot_msg); servo_move_pub_->publish(fourth_pot_msg);
@@ -167,7 +167,7 @@ namespace Modelec
case RETRACT_BOTTOM_PLATE: case RETRACT_BOTTOM_PLATE:
{ {
modelec_interfaces::msg::ActionServoPos servo_action_bottom_msg; modelec_interfaces::msg::ActionServoPos servo_action_bottom_msg;
servo_action_bottom_msg.id = 4; // TODO : to define servo_action_bottom_msg.id = 2; // TODO : to define
servo_action_bottom_msg.pos = 2; servo_action_bottom_msg.pos = 2;
servo_move_pub_->publish(servo_action_bottom_msg); servo_move_pub_->publish(servo_action_bottom_msg);
@@ -192,30 +192,10 @@ namespace Modelec
relay_top_msg.id = 2; relay_top_msg.id = 2;
relay_move_pub_->publish(relay_top_msg); relay_move_pub_->publish(relay_top_msg);
modelec_interfaces::msg::ActionRelayState relay_bottom_msg; modelec_interfaces::msg::ActionServoPos top_pot_msg;
relay_bottom_msg.state = true; // TODO : check that top_pot_msg.id = 4; // TODO : to define
relay_bottom_msg.id = 1; top_pot_msg.pos = 1;
relay_move_pub_->publish(relay_bottom_msg); servo_move_pub_->publish(top_pot_msg);
modelec_interfaces::msg::ActionServoPos first_pot_msg;
first_pot_msg.id = 0; // TODO : to define
first_pot_msg.pos = 1;
servo_move_pub_->publish(first_pot_msg);
modelec_interfaces::msg::ActionServoPos fourth_pot_msg;
fourth_pot_msg.id = 3; // TODO : to define
fourth_pot_msg.pos = 1;
servo_move_pub_->publish(fourth_pot_msg);
modelec_interfaces::msg::ActionServoPos second_pot_msg;
second_pot_msg.id = 1; // TODO : to define
second_pot_msg.pos = 1;
servo_move_pub_->publish(second_pot_msg);
modelec_interfaces::msg::ActionServoPos third_pot_msg;
third_pot_msg.id = 2; // TODO : to define
third_pot_msg.pos = 1;
servo_move_pub_->publish(third_pot_msg);
step_running_ = 6; step_running_ = 6;
} }
@@ -234,7 +214,7 @@ namespace Modelec
case PLACE_FIRST_PLATE: case PLACE_FIRST_PLATE:
{ {
modelec_interfaces::msg::ActionServoPos action_bottom_msg; modelec_interfaces::msg::ActionServoPos action_bottom_msg;
action_bottom_msg.id = 4; // TODO : to define action_bottom_msg.id = 2; // TODO : to define
action_bottom_msg.pos = 0; action_bottom_msg.pos = 0;
servo_move_pub_->publish(action_bottom_msg); servo_move_pub_->publish(action_bottom_msg);
@@ -244,15 +224,10 @@ namespace Modelec
break; break;
case STICK_ALL: case STICK_ALL:
{ {
modelec_interfaces::msg::ActionServoPos second_pot_msg; modelec_interfaces::msg::ActionServoPos top_pot_msg;
second_pot_msg.id = 1; // TODO : to define top_pot_msg.id = 4; // TODO : to define
second_pot_msg.pos = 1; top_pot_msg.pos = 1;
servo_move_pub_->publish(second_pot_msg); servo_move_pub_->publish(top_pot_msg);
modelec_interfaces::msg::ActionServoPos third_pot_msg;
third_pot_msg.id = 2; // TODO : to define
third_pot_msg.pos = 1;
servo_move_pub_->publish(third_pot_msg);
step_running_ = 2; step_running_ = 2;
} }
@@ -290,15 +265,10 @@ namespace Modelec
second_pot_msg.pos = 0; second_pot_msg.pos = 0;
servo_move_pub_->publish(second_pot_msg); servo_move_pub_->publish(second_pot_msg);
modelec_interfaces::msg::ActionServoPos third_pot_msg; modelec_interfaces::msg::ActionServoPos top_pot_msg;
third_pot_msg.id = 2; // TODO : to define top_pot_msg.id = 4; // TODO : to define
third_pot_msg.pos = 0; top_pot_msg.pos = 0;
servo_move_pub_->publish(third_pot_msg); servo_move_pub_->publish(top_pot_msg);
modelec_interfaces::msg::ActionServoPos fourth_pot_msg;
fourth_pot_msg.id = 3; // TODO : to define
fourth_pot_msg.pos = 0;
servo_move_pub_->publish(fourth_pot_msg);
step_running_ = 6; step_running_ = 6;
} }
@@ -311,7 +281,7 @@ namespace Modelec
asc_move_pub_->publish(asc_msg); asc_move_pub_->publish(asc_msg);
modelec_interfaces::msg::ActionServoPos servo_action_bottom_msg; modelec_interfaces::msg::ActionServoPos servo_action_bottom_msg;
servo_action_bottom_msg.id = 4; // TODO : to define servo_action_bottom_msg.id = 3; // TODO : to define
servo_action_bottom_msg.pos = 0; servo_action_bottom_msg.pos = 0;
servo_move_pub_->publish(servo_action_bottom_msg); servo_move_pub_->publish(servo_action_bottom_msg);