servo files updated

utk-robotics-2017 · Mar 7, 2018 · a709499 · xxAtrain223 · Mar 7, 2018 · xxAtrain223
1 parent 1f0419f
commit a709499
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Showing 3 changed files with 42 additions and 2 deletions.
diff --git a/appendages/json/servo.json b/appendages/json/servo.json
@@ -0,0 +1,3 @@
+{
+    "pin": "int"
+}
diff --git a/appendages/src/servo.cpp b/appendages/src/servo.cpp
@@ -6,13 +6,16 @@
 
 #include <cmd_messenger/cmd_messenger.hpp>
 
+using namespace rip::utilities;
+
 namespace rip
 {
     namespace appendages
     {
         Servo::Servo(const nlohmann::json& config, const std::map<std::string, int>& command_map, std::shared_ptr<cmdmessenger::Device> device)
             : Appendage(config, device)
-            , m_write(createCommand("kServoWrite", command_map, cmdmessenger::ArduinoCmdMessenger::makeArgumentString<typename cmdmessenger::ArduinoCmdMessenger::IntegerType, typename cmdmessenger::ArduinoCmdMessenger::IntegerType>()))
+            , m_write(createCommand("kServoWrite", command_map, cmdmessenger::ArduinoCmdMessenger::makeArgumentString<typename utilities::cmdmessenger::ArduinoCmdMessenger::IntegerType, typename utilities::cmdmessenger::ArduinoCmdMessenger::IntegerType>()))
+            , m_id(device) // MAYBE?
 m_id = config["id"]; 
 m_id = config["id"]; 
         {
         }
 
@@ -24,11 +27,12 @@ namespace rip
 
         void Servo::stop()
         {
-
+            // no stop command?
         }
 
         bool Servo::diagnostic()
         {
+            // TODO figure out what this is
             return true;
         }
 

diff --git a/appendages/xml/servo.xml b/appendages/xml/servo.xml
@@ -0,0 +1,33 @@
+<appendage-template>
+    <include>
+        <include standard="false">Servo.h</include>
+    </include>
+
+    <constructors>
+        <constructor type="Servo" variable="servos">
+        </constructor>
+        <constructor type="unsigned char" variable="servo_pin" type-is-class="false">
+            <argument name="pin" type="int" />
+        </constructor>
+    </constructors>
+
+    <setup>
+        servos[$i$].attach($pin$)
+    </setup>
+
+    <loop>
+        // Servo pin: $pin$
+    </loop>
+
+    <commands>
+        <command id="kServoWrite" name="ServoWrite" index-num="true">
+            <parameter type="int" name="value" />
+            <code>
+                if (!servos[indexNum].attached()) {
+                    servos[indexNum].write(value)
+                }
+                servos[indexNum].write(value)
+            </code>
+        </command>
+    </commands>
+</appendage-template>