Hold button pause actionlib #61
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kjaget
reviewed
Mar 21, 2019
| ros::Duration(pause_time_after_release).sleep(); | ||
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| ros::Duration(pause_time_after_extend).sleep(); | ||
| //wait until the panel intake button is released before retracting mech and lowering elevator |
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For this part, would preempting the actionlib call on button release work?
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What do you mean? On button release, the actionlib action should finish, not get preempted.
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I think sending a preempt will cause the code to finish. It will break out of the loop and then since there are no checks for !preempted around the remaining actions, the action will finish. It's a lot easier than adding a service call specifically to get out of the loop.
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Holding panel place button pauses after panel mech extension and before releasing panel.
Holding intake panel button pauses after unclamp and extension.
Quickly pressing either button should execute the actionlib sequence without pausing.