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F-CRG
BM07
bm07
Commits
ff642ab7
Commit
ff642ab7
authored
Aug 16, 2021
by
Yoann Sallaz Damaz
Browse files
add different state to actuator multi wago
parent
859f3cf7
Pipeline
#52772
failed with stages
Changes
1
Pipelines
1
Hide whitespace changes
Inline
Side-by-side
bm07/actuator_multiwago.py
View file @
ff642ab7
...
...
@@ -12,11 +12,11 @@ class Actuator_multiwago(Actuator):
(bool): True if IN. False if OUT, None if no check possible.
"""
if
self
.
key_in
:
return
self
.
controller_state
.
get
(
self
.
key_in
)
return
self
.
controller_state
.
get
(
self
.
key_in
)
==
1
if
self
.
key_out
:
return
not
self
.
controller_state
.
get
(
self
.
key_out
)
return
self
.
controller_state
.
get
(
self
.
key_out
)
==
0
if
self
.
key_cmd
:
return
self
.
controller
.
get
(
self
.
key_cmd
)
return
self
.
controller
.
get
(
self
.
key_cmd
)
==
1
def
_is_out
(
self
):
""" Check if the actuator is in position OUT
...
...
@@ -24,8 +24,28 @@ class Actuator_multiwago(Actuator):
(bool): True if OUT. False if IN, None if no check possible.
"""
if
self
.
key_out
:
return
self
.
controller_state
.
get
(
self
.
key_out
)
return
self
.
controller_state
.
get
(
self
.
key_out
)
==
1
if
self
.
key_in
:
return
not
self
.
controller_state
.
get
(
self
.
key_in
)
return
self
.
controller_state
.
get
(
self
.
key_in
)
==
0
if
self
.
key_cmd
:
return
not
self
.
controller
.
get
(
self
.
key_cmd
)
\ No newline at end of file
return
self
.
controller
.
get
(
self
.
key_cmd
)
==
0
def
is_open
(
self
):
return
self
.
_is_out
()
def
is_close
(
self
):
return
self
.
_is_in
()
def
on
(
self
):
self
.
set_in
()
def
off
(
self
):
self
.
set_out
()
def
__repr__
(
self
):
if
self
.
state
==
"IN"
:
return
"IN/ON/CLOSE"
elif
self
.
state
==
"OUT"
:
return
"OUT/OFF/OPEN"
else
:
return
self
.
state
\ No newline at end of file
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