This repository contains the ROS nodes that control the backlight module of the BioBotus project.
backlight_control.py is subscribing to Backlight_Color which is a string ROS topics. It can received 3 values :
- "white", sets the GPIO pin 10 to High
- "blue", sets the GPIO pin 25 to High
- "None", sets the GPIO pin 10 and 25 to Low
GPIO Pins 10 and 25 are outputs pins and are connected to the relay circuit in the backlight physical model to polarize the the diodes stripes.
Once the GPIO pins are setted, the ROS node publish a Done_Module("backlight_module")
Note : Everytime this ROS node receive a Backlight_Color topics, it sets the GPIO pins 10 and 25 to Low.