ellensohn/rmp220_middleware
1
0
Fork 0
mirror of https://github.com/bjoernellens1/rmp220_middleware.git synced 2024-11-22 07:43:48 +00:00
Code Issues Packages Projects Releases Wiki Activity

changes in operation: testing

Browse Source
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
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

8
rmp220_middleware/rmp220_middleware.py
View File

@ -68,19 +68,19 @@ class StateMachineNode(Node):
if msg.chassis_mode == 0: if msg.chassis_mode == 0:
self.chassis_mode = State.DISABLED self.chassis_mode = State.DISABLED
self.state = 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 if msg.chassis_mode == 1: # Assuming 1 represents enabled and 0 represents disabled
self.chassis_mode = State.ENABLED self.chassis_mode = State.ENABLED
self.state = 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: if msg.chassis_mode == 2:
self.chassis_mode = State.PASSIVE self.chassis_mode = State.PASSIVE
self.state = 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: if msg.chassis_mode == 3:
self.chassis_mode = State.STOPPED self.chassis_mode = State.STOPPED
self.state = 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): def get_chassis_mode(self):
return self.chassis_mode return self.chassis_mode