From 602a4622135766f1b626001a93e5f06df4815670 Mon Sep 17 00:00:00 2001 From: kmakd Date: Thu, 28 Nov 2024 09:22:09 +0000 Subject: [PATCH] fix CHRG_DISABLE init state --- .../src/robot_system/gpio/gpio_controller.cpp | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/husarion_ugv_hardware_interfaces/src/robot_system/gpio/gpio_controller.cpp b/husarion_ugv_hardware_interfaces/src/robot_system/gpio/gpio_controller.cpp index f511a9af4..bfb8bdc5a 100644 --- a/husarion_ugv_hardware_interfaces/src/robot_system/gpio/gpio_controller.cpp +++ b/husarion_ugv_hardware_interfaces/src/robot_system/gpio/gpio_controller.cpp @@ -212,7 +212,8 @@ std::unordered_map GPIOController::QueryControlInterfaceIOStates( const std::vector GPIOController::gpio_config_info_storage_ = { GPIOInfo{GPIOPin::WATCHDOG, gpiod::line::direction::OUTPUT}, GPIOInfo{GPIOPin::AUX_PW_EN, gpiod::line::direction::OUTPUT}, - GPIOInfo{GPIOPin::CHRG_DISABLE, gpiod::line::direction::OUTPUT}, + GPIOInfo{ + GPIOPin::CHRG_DISABLE, gpiod::line::direction::OUTPUT, false, gpiod::line::value::ACTIVE}, GPIOInfo{GPIOPin::DRIVER_EN, gpiod::line::direction::OUTPUT}, GPIOInfo{GPIOPin::E_STOP_RESET, gpiod::line::direction::INPUT}, GPIOInfo{GPIOPin::FAN_SW, gpiod::line::direction::OUTPUT},