Pārlūkot izejas kodu

更新上下移动舵机的初始角度为90度

corvin 4 gadi atpakaļ
vecāks
revīzija
8d04d2e227

+ 1 - 1
ros_code/src/arduino_servo_connect/cfg/arduino_params.cfg

@@ -17,7 +17,7 @@ gen = ParameterGenerator()
 
 gen.add("firmware_pub_rate", double_t, 0, "pub arduino firmware ver rate", 0.1, 0.01, 1.0)
 gen.add("default_x_deg", int_t, 0, "servo x default degree", 90, 0, 180)
-gen.add("default_y_deg", int_t, 0, "servo y default degree", 0, 0, 180)
+gen.add("default_y_deg", int_t, 0, "servo y default degree", 90, 0, 180)
 gen.add("servo_move_delay", int_t, 0, "when exit move servo delay", 60, 0, 150)
 
 exit(gen.generate(PACKAGE, "arduino_dynamic_reconfig", "arduino_servo"))

+ 1 - 1
ros_code/src/arduino_servo_connect/cfg/config_params.yaml

@@ -19,4 +19,4 @@ timeout: 0.5
 servo_move_delay: 60
 version_pub_rate: 0.1
 default_x_deg: 90
-default_y_deg: 0
+default_y_deg: 90

+ 1 - 1
ros_code/src/arduino_servo_connect/src/arduino_node.py

@@ -98,7 +98,7 @@ class ArduinoROS():
         self.moveServoTopic = rospy.get_param("~move_servo_topic", "/arduino_servo_node/moveServoTopic")
         self.firmwareVerTopic = rospy.get_param("~firmware_version_topic", "/arduino_servo_node/firmwareVersionTopic")
         self.default_x_deg = rospy.get_param("~default_x_deg", 90)
-        self.default_y_deg = rospy.get_param("~default_y_deg", 0)
+        self.default_y_deg = rospy.get_param("~default_y_deg", 90)
 
     # Service callback functions
     def ServoWriteHandler(self, req):