提高LED灯响应速度

led_dev/led_dev/led_dev_node.py

@@ -44,6 +44,7 @@ class LedCommand(Node):
         self.driver = TM512AC_RS485_Driver(port='/dev/ttyUSB0', num_ic=5)
         self.cur_color='green'
         self.cur_val=5
+        self.update=0
         self.get_logger().info("led_dev_node will start....")
         self.th1=threading.Thread(target=self.com_task)
         self.th1.start()
@@ -51,7 +52,9 @@ class LedCommand(Node):
     def com_task(self):
         idx=0
         while True:
-            self.led_blink(self.cur_color,self.cur_val)
+            #self.led_blink(self.cur_color,self.cur_val)
+            self.all_color(self.cur_color, -self.cur_val)
+            self.all_color(self.cur_color, self.cur_val)
     def wait_task(self):
         self.th1.join()
     def all_color(self,rgb_data,xnum):
@@ -84,7 +87,10 @@ class LedCommand(Node):
                 rgb = [val, val, val,0] * num_ic
             print(rgb)
             self.driver.send_frame(rgb)
-            time.sleep(0.02)
+            if self.update==1:
+                self.update=0
+                break
+            time.sleep(0.01)
     def led_blink(self,color,val):
         self.all_color(color, -val)
         self.all_color(color, val)
@@ -94,6 +100,7 @@ class LedCommand(Node):
         cmd,val=xcmd.split(',')
         self.cur_color=cmd
         self.cur_val=int(val)
+        self.update=1
         ###self.led_blink(cmd,int(val))
 def main():
     rclpy.init()