ellensohn/rmp220_middleware
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changes in operation: testing

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This commit is contained in:
Björn Ellensohn 2023-08-22 10:17:24 +02:00
parent a6dff4d0e1
commit 6aa2e7a101
1 changed files with 4 additions and 4 deletions
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8
rmp220_middleware/rmp220_middleware.py
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@ -68,19 +68,19 @@ class StateMachineNode(Node):
if msg.chassis_mode == 0:
self.chassis_mode = State.DISABLED
self.state = State.DISABLED
self.get_logger().info('Set chassis_mode to' + str(self.state.value))
self.get_logger().info('Set chassis_mode to ' + str(self.state.value))
if msg.chassis_mode == 1: # Assuming 1 represents enabled and 0 represents disabled
self.chassis_mode = State.ENABLED
self.state = State.ENABLED
self.get_logger().info('Set chassis_mode to ENABLED')
self.get_logger().info('Set chassis_mode to ' + str(self.state.value))
if msg.chassis_mode == 2:
self.chassis_mode = State.PASSIVE
self.state = State.PASSIVE
self.get_logger().info('Set chassis_mode to PASSIVE')
self.get_logger().info('Set chassis_mode to ' + str(self.state.value))
if msg.chassis_mode == 3:
self.chassis_mode = State.STOPPED
self.state = State.STOPPED
self.get_logger().info('Set chassis_mode to STOPPED')
self.get_logger().info('Set chassis_mode to ' + str(self.state.value))
def get_chassis_mode(self):
return self.chassis_mode