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changes in operation: testing

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Björn Ellensohn 2023-08-22 10:09:56 +02:00
parent 0e968bb165
commit 836ce994b3
1 changed files with 4 additions and 0 deletions
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rmp220_middleware/rmp220_middleware.py
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@ -68,15 +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 DISABLED')
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')
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')
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')
def get_chassis_mode(self): def get_chassis_mode(self):
return self.chassis_mode return self.chassis_mode