48 lines
1.2 KiB
Python
48 lines
1.2 KiB
Python
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#!/usr/bin/env python
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# -*- coding: utf-8 -*-
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"""
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Created on Mon Feb 10 17:09:57 2020
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@author: Maxi
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"""
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import roslib
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import rospy
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import sys
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import std_msgs.msg as msg
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from dynamic_reconfigure.server import Server as DynamicReconfigureServer
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# Import custom message data and dynamic reconfigure variables.
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from Steve.msg import node_example
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from Steve.cfg import node_example_paramsConfig as ConfigType
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import RPi.GPIO as GPIO
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import Pin
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from Switch import Switch
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class StowedSwitch(Switch):
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def __init__(self):
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""" TODO : Flanke abstellen, nur auf HIGH / LOW abfragen """
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self.pin = Pin.limit_stowed
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self.pin_out = Pin.limit_stowed_out
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self.event_based = False # detect only status changes
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self.setup_pwr_low()
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self.SwitchPub = rospy.Publisher('stowed_switch', msg.String, queue_size=1)
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Switch.__init__(self)
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if __name__ == '__main__': # name == main when ros opens ***.py
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# initialize the node
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# rospy.init_node('Switch')
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# instantiate class
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try:
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# my_switch = StowedSwitch()
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stow_switch = StowedSwitch()
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# raised_switch = RaisedSwitch()
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except rospy.ROSInterruptException:
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pass
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