Merge pull request #248 from 321Aurora/imagetransmission

Add the function of change position
rm-controls · Jan 19, 2025 · 1869916 · 1869916
2 parents c5367f9 + c1d4a8f
commit 1869916
Showing 1 changed file with 7 additions and 1 deletion.
diff --git a/rm_common/include/rm_common/decision/command_sender.h b/rm_common/include/rm_common/decision/command_sender.h
@@ -652,6 +652,12 @@ class JointPositionBinaryCommandSender : public CommandSenderBase<std_msgs::Floa
     msg_.data = off_pos_;
     state = false;
   }
+  void changePosition(double scale)
+  {
+    current_position_ = msg_.data;
+    change_position_ = current_position_ + scale * per_change_position_;
+    msg_.data = change_position_;
+  }
   bool getState() const
   {
     return state;
@@ -664,7 +670,7 @@ class JointPositionBinaryCommandSender : public CommandSenderBase<std_msgs::Floa
 
 private:
   bool state{};
-  double on_pos_{}, off_pos_{};
+  double on_pos_{}, off_pos_{}, current_position_{}, change_position_{}, per_change_position_{ 0.05 };
 };
 
 class CardCommandSender : public CommandSenderBase<std_msgs::Float64>