start modules

ArendJan · Nov 14, 2023 · 91096f3 · 91096f3
1 parent 2698edb
commit 91096f3
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diff --git a/mirte_telemetrix/config/mirte_master_config.yaml b/mirte_telemetrix/config/mirte_master_config.yaml
@@ -5,6 +5,7 @@ device:
     max_frequency: 50
 module:
   motorservocontroller:
+    device: mirte
     type: PCA9685
     id: 0x40
     # frequency: 1600

diff --git a/mirte_telemetrix/scripts/ROS_telemetrix_aio_api.py b/mirte_telemetrix/scripts/ROS_telemetrix_aio_api.py
@@ -932,6 +932,8 @@ def actuators(loop, board, device):
             servo = Servo(board, servos[servo])
             servers.append(loop.create_task(servo.start()))
 
+    if rospy.has_param("/mirte/modules"):
+        servers += add_modules(rospy.get_param("/mirte/modules"))
     # Set a raw pin value
     server = rospy.Service("/mirte/set_pin_value", SetPinValue, handle_set_pin_value)
 
@@ -1036,6 +1038,16 @@ def sensors(loop, board, device):
 
     return tasks
 
+def add_modules(modules, device) -> []:
+    # pca9685 module:
+    modules = {k: v for k, v in modules.items() if v["device"] == device}
+    for module in modules:
+        print(module)
+
+    return []
+
+
+
 
 # Shutdown procedure
 closing = False