modelec/modelec-marcel-ROS
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This commit is contained in:
acki
2025-05-29 11:48:40 -04:00
parent a1cb09fc86
commit fd504a7d4c
1 changed files with 8 additions and 0 deletions
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8
src/modelec_com/src/pcb_action_interface.cpp
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@@ -226,6 +226,8 @@ namespace Modelec
for (auto & [key, angle] : v) for (auto & [key, angle] : v)
{ {
rclcpp::sleep_for(std::chrono::milliseconds(100));
SendOrder("SERVO" + std::to_string(id), {"POS" + std::to_string(key), std::to_string(static_cast<int>(angle * 100))}); SendOrder("SERVO" + std::to_string(id), {"POS" + std::to_string(key), std::to_string(static_cast<int>(angle * 100))});
} }
} }
@@ -241,6 +243,8 @@ namespace Modelec
for (auto & [id, v] : servo_value_) for (auto & [id, v] : servo_value_)
{ {
rclcpp::sleep_for(std::chrono::milliseconds(100));
SendMove("SERVO" + std::to_string(id), {"POS" + std::to_string(v)}); SendMove("SERVO" + std::to_string(id), {"POS" + std::to_string(v)});
} }
@@ -252,9 +256,13 @@ namespace Modelec
for (auto & [id, v] : relay_value_) for (auto & [id, v] : relay_value_)
{ {
rclcpp::sleep_for(std::chrono::milliseconds(100));
SendMove("RELAY" + std::to_string(id), {std::to_string(v)}); SendMove("RELAY" + std::to_string(id), {std::to_string(v)});
} }
rclcpp::sleep_for(std::chrono::milliseconds(100));
SendOrder("TIR", {"ARM", "1"}); SendOrder("TIR", {"ARM", "1"});
} }