Diff: Module/MODULE.cpp

Revision:

0:4ff8aeb3e4d1

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Module/MODULE.cpp	Fri Apr 02 05:24:49 2021 +0000
@@ -0,0 +1,74 @@
+#include "MODULE.hpp"
+
+void MODULE::Init() {
+    //InitDCE();
+    InitPulifier();
+    InitUVC();
+}
+
+void MODULE::InitPulifier() {
+    purifier_pwmout.period(1);
+    purifier_pwmout = 0.0; 
+    purifier_br = _Brake;
+}
+/*
+void MODULE::InitDCE() {
+    boosterpump = _PumpOff;
+    solenoid = _PumpOff;
+}
+*/
+void MODULE::InitUVC() {
+    uvc = _Off;
+}
+extern ros::NodeHandle nh;
+void MODULE::SetPurifierFreq() {
+    _PurifierFreq = msg -> pulifier;
+    char temp[16];
+    memset(temp,'\0',sizeof(temp));
+    sprintf(temp,"freq: %d",_PurifierFreq);
+    nh.loginfo(temp);
+}
+
+void MODULE::ControlPurifier() {
+    static level_t _PurifierFreq_pre = _PurifierStop;
+    SetPurifierFreq();
+    if(_PurifierFreq != _PurifierFreq_pre ) {  // for processing optimization
+        if(_PurifierFreq != _PurifierStop) {
+            purifier_pwmout.period(1.0/(float)_PurifierFreq);
+            purifier_pwmout = 0.5;
+            purifier_br = 0;
+        }
+        else {
+            purifier_pwmout = 0.0;
+            purifier_br = _Brake;
+        }
+    }
+    _PurifierFreq_pre = _PurifierFreq;
+}
+
+/*
+void MODULE::ControlDCE() {
+    if(msg->module_power[PUMP_ON_POS]) boosterpump = _PumpOn;
+    else boosterpump = _PumpOff;
+    if(msg->module_power[SOL_ON_POS]) solenoid = _PumpOn;
+    else solenoid = _PumpOff;
+}
+*/
+
+void MODULE::control() {
+    //ControlDCE();
+    ControlUVC();
+    ControlPurifier();
+}
+
+void MODULE::ControlUVC() {
+    if(msg->module_power[UVC_ON_POS]) uvc = _On;
+    else uvc = _Off;
+}
+
+
+void MODULE::setMsg(zetabot_main::ModuleControlMsgs* msg) {
+    this -> msg = msg;
+}
+
+// MODULE.cpp
\ No newline at end of file