public override void setf_command(double command)
{
if (command < MIN_POSITION || command > MAX_POSITION)
{
throw new ArgumentException($"Command must be between {MIN_POSITION} and {MAX_POSITION}");
}
ros_csharp_interop.rosmsg.ROSTime t;
lock (this)
{
t = _now_ros();
}
var cmd1 = new IOComponentCommand();
cmd1.time = t;
cmd1.op = "set";
cmd1.args = "{\"signals\": {\"position_m\": {\"data\": [" + command.ToString() + "], \"format\": {\"type\": \"float\"}}}}";
_gripper_command_pub.publish(cmd1);
lock (this)
{
_command = command;
}
}
public override void home()
{
ros_csharp_interop.rosmsg.ROSTime t;
lock (this)
{
t = _now_ros();
}
var cmd1 = new IOComponentCommand();
cmd1.time = t;
cmd1.op = "set";
cmd1.args = "{\"signals\": {\"calibrate\": {\"data\": [true], \"format\": {\"type\": \"bool\" }}}}";
_gripper_command_pub.publish(cmd1);
Thread.Sleep(2500);
}
public override void open()
{
ros_csharp_interop.rosmsg.ROSTime t;
lock (this)
{
t = _now_ros();
}
var cmd1 = new IOComponentCommand();
cmd1.time = t;
cmd1.op = "set";
cmd1.args = "{\"signals\": {\"cmd_grip\": {\"data\": [false], \"format\": {\"type\": \"bool\"}}}}";
_gripper_command_pub.publish(cmd1);
lock (this)
{
_command = 0;
}
}
