Merge pull request #170 from cwruRobotics/valve-manip-reverse

Valve manip reverse
CWRUbotix · May 3, 2024 · 64bb9d2 · 64bb9d2
2 parents 7c90aca + 52a0a5e
commit 64bb9d2
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Showing 3 changed files with 11 additions and 4 deletions.
diff --git a/src/pi/manipulators/manipulators/valve_manipulator_node.py b/src/pi/manipulators/manipulators/valve_manipulator_node.py
@@ -28,11 +28,11 @@ def manip_callback(self, message: ValveManip) -> None:
         if message.active:
             if not self.curr_active:
                 self.curr_active = True
-                self.servo(1900)
+                self.servo(message.pwm)
         else:
             if self.curr_active:
                 self.curr_active = False
-                self.servo(1500)
+                self.servo(ValveManip.NEUTRAL_PWM)
 
 
 def main() -> None:

diff --git a/src/rov_msgs/msg/ValveManip.msg b/src/rov_msgs/msg/ValveManip.msg
@@ -1 +1,6 @@
-bool active
+bool active
+uint16 pwm
+
+uint16 MAX_PWM = 1900
+uint16 NEUTRAL_PWM = 1500
+uint16 MIN_PWM = 1100
diff --git a/src/surface/flight_control/flight_control/manual_control_node.py b/src/surface/flight_control/flight_control/manual_control_node.py
@@ -129,7 +129,9 @@ def manip_callback(self, msg: Joy) -> None:
 
     def valve_manip_callback(self, msg: Joy) -> None:
         if msg.buttons[TRI_BUTTON] == 1:
-            self.valve_manip.publish(ValveManip(active=True))
+            self.valve_manip.publish(ValveManip(active=True, pwm=ValveManip.MAX_PWM))
+        elif msg.buttons[SQUARE_BUTTON] == 1:
+            self.valve_manip.publish(ValveManip(active=True, pwm=ValveManip.MIN_PWM))
         else:
             self.valve_manip.publish(ValveManip(active=False))