gestion de servomoteur individuelement, et du message ROS associe
Dependents: stm32_actuator_gobeur
Revision 5:04d111f63a0f, committed 2021-07-08
- Comitter:
- kyxstark
- Date:
- Thu Jul 08 22:46:14 2021 +0000
- Parent:
- 4:de7ca80dbe4b
- Commit message:
- peut de modif
Changed in this revision
Manche_a_air.cpp | Show annotated file Show diff for this revision Revisions of this file |
Manche_a_air.h | Show annotated file Show diff for this revision Revisions of this file |
diff -r de7ca80dbe4b -r 04d111f63a0f Manche_a_air.cpp --- 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:
diff -r de7ca80dbe4b -r 04d111f63a0f Manche_a_air.h --- a/Manche_a_air.h Thu Jul 08 16:43:25 2021 +0000 +++ b/Manche_a_air.h Thu Jul 08 22:46:14 2021 +0000 @@ -15,7 +15,7 @@ -namespace manche_a_air_node +namespace stm32_actuators_node { class Manche_a_air_msg : public ros::Msg @@ -52,7 +52,7 @@ return offset; } - const char * getType(){ return "manche_a_air_node/Manche_a_air_msg"; }; + const char * getType(){ return "stm32_actuators/Manche_a_air_msg"; }; const char * getMD5(){ return "33a9b4e076016e58fe35593be08a2827"; }; }; @@ -60,7 +60,7 @@ } -void maa_trait_msg(const manche_a_air_node::Manche_a_air_msg& manche_a_air_msg); +void maa_trait_msg(const stm32_actuators_node::Manche_a_air_msg& manche_a_air_msg);