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publishes digital input port state #8

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merged 1 commit into from Dec 12, 2016

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commented Dec 12, 2016

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@at-wat at-wat self-assigned this Dec 12, 2016

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commented Dec 12, 2016

tested with TF-2MD3

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commented Dec 12, 2016

commands

$ rosrun ypspur_ros ypspur_ros _param_file:=PARAM_FILE _dio7_enable:=true _dio7_input:=true _dio7_name:=test1 _dio0_enable:=true _dio0_name:=test0 _dio0_output:=false _dio0_intput:=true
$ rostopic echo /ypspur_ros/digital_input
$ rostopic pub /ypspur_ros/test1 ypspur_ros/DigitalOutput "output: 1
toggle_time:
  secs: 2
  nsecs: 0" 

results

header: 
  seq: 7065
  stamp: 
    secs: 1481547851
    nsecs: 586544699
  frame_id: ''
name: ['test0', 'test1']
state: [True, True]
---
header: 
  seq: 7066
  stamp: 
    secs: 1481547851
    nsecs: 591538319
  frame_id: ''
name: ['test0', 'test1']
state: [True, False]
---

The port state change had been detected. It is also confirmed that it worked with shorting io ports with GND.

@at-wat at-wat merged commit 92c9f70 into openspur:master Dec 12, 2016

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commented Dec 12, 2016

This fixes #5.

@at-wat at-wat deleted the at-wat:publish-digital-input branch Dec 12, 2016

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