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State module type

The State module can handles a sensor (Button board for example), or an actuator (Power Switch board for example). Generally, this type of modules allows to manage bi-state elements such as on/off, pushed/release, 0/1, ...

Its type has access to all common capabilities.


Functions

Function name and parametersActionComment
control(self)Displays module type graphical interfaceOnly available using Jupyter notebook

Variables

Variable nameActionType
stateSets or reads the module stateread / write: Boolean (True or False)

Events

Event nameTrigger
changedAny state modification falling or raising
fallingState modification from True to False
risingState modification from False to True

ROS topics

Topic nameMessage type
/button_mod/variables/state/readstd_msgs/msg/Bool
/button_mod/variables/state/writestd_msgs/msg/Bool
/button_mod/events/risingluos_msgs/msg/BoolChange
/button_mod/events/fallingluos_msgs/msg/BoolChange
/button_mod/events/changedluos_msgs/msg/BoolChange

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