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Added missing pin_mode statements to Analog and AnalogFloat sensor types

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This commit is contained in:
Patrick Goebel 2014-06-07 19:06:04 -07:00
parent f2d40aa724
commit 8e6b2ff0ce
1 changed files with 20 additions and 0 deletions
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20
ros_arduino_python/src/ros_arduino_python/arduino_sensors.py
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@ -89,6 +89,13 @@ class AnalogSensor(Sensor):
self.pub = rospy.Publisher("~sensor/" + self.name, Analog) self.pub = rospy.Publisher("~sensor/" + self.name, Analog)
if self.direction == "output":
self.controller.pin_mode(self.pin, OUTPUT)
else:
self.controller.pin_mode(self.pin, INPUT)
self.value = LOW
def read_value(self): def read_value(self):
return self.controller.analog_read(self.pin) return self.controller.analog_read(self.pin)
@ -105,6 +112,19 @@ class AnalogFloatSensor(Sensor):
self.msg.header.frame_id = self.frame_id self.msg.header.frame_id = self.frame_id
self.pub = rospy.Publisher("~sensor/" + self.name, AnalogFloat) self.pub = rospy.Publisher("~sensor/" + self.name, AnalogFloat)
if self.direction == "output":
self.controller.pin_mode(self.pin, OUTPUT)
else:
self.controller.pin_mode(self.pin, INPUT)
self.value = LOW
def read_value(self):
return self.controller.analog_read(self.pin)
def write_value(self, value):
return self.controller.analog_write(self.pin, value)
class DigitalSensor(Sensor): class DigitalSensor(Sensor):