add service for controlling relais

2023-05-17 11:31:22 +02:00
parent e8f7c1610a
commit e16e083dd0
4 changed files with 44 additions and 12 deletions
--- a/src/drone_services/CMakeLists.txt
+++ b/src/drone_services/CMakeLists.txt
@@ -28,6 +28,7 @@ rosidl_generate_interfaces(${PROJECT_NAME}
  "srv/SetVehicleControl.srv"
  "srv/ArmDrone.srv"
  "srv/DisarmDrone.srv"
+  "srv/ControlRelais.srv"
  "msg/DroneControlMode.msg"
 )

--- a/src/drone_services/srv/ControlRelais.srv
+++ b/src/drone_services/srv/ControlRelais.srv
@@ -0,0 +1,5 @@
+#to turn the relais on or off
+bool relais1_on false
+bool relais2_on false
+---
+int8 bits # relais 1 = bit 0, relais 2 is bit 1