gestion de servomoteur individuelement, et du message ROS associe
Dependents: stm32_actuator_gobeur
Diff: Manche_a_air.cpp
- Revision:
- 5:04d111f63a0f
- Parent:
- 3:40988c59e571
--- a/Manche_a_air.cpp Thu Jul 08 16:43:25 2021 +0000 +++ b/Manche_a_air.cpp Thu Jul 08 22:46:14 2021 +0000 @@ -36,11 +36,12 @@ switch(_state) { case closed: - if( (_order == open && 0) || ( (elapsed>_timeout_auto_open) && _flag_auto_open ) ) + if( (_order == open && 1) || ( (elapsed>_timeout_auto_open) && _flag_auto_open ) ) { _state = opening; *_servo = _servo_open; _time = clock_s(); + _order = open; } break; case opening: @@ -51,11 +52,12 @@ } break; case opened: - if( (_order == close && 0) || ( (elapsed>_timeout_auto_close) && _flag_auto_close ) ) + if( (_order == close && 1) || ( (elapsed>_timeout_auto_close) && _flag_auto_close ) ) { _state = closing; *_servo = _servo_close; _time = clock_s(); + _order = close; } break; case closing: