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scripts: update navlight script to support Rover 4.2 through 4.5 #11

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merged 1 commit into from
Apr 6, 2024
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scripts: update navlight script to support Rover 4.2 through 4.5 #11

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12 changes: 7 additions & 5 deletions scripts/ardupilot/ArduRover/4.x/navlight.lua
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Original file line number Diff line number Diff line change
@@ -1,6 +1,7 @@
-- This scripts is used to control Blue Robotics`s NavLight on the Blue Boat

local RELAY_NUM = 0
local LIGHT_PIN = 18
gpio:pinMode(LIGHT_PIN, 1)

local MODES = {
"MANU",
Expand Down Expand Up @@ -107,7 +108,7 @@ function update() -- this is the loop which periodically runs

if interval == 0 then -- Special case, light always on
if not is_light_on_tm then
relay:on(RELAY_NUM)
gpio:write(LIGHT_PIN,1)
is_light_on_tm = true
end
return update, 50 -- reschedules
Expand All @@ -121,11 +122,12 @@ function update() -- this is the loop which periodically runs

-- Check if it's time to toggle the light
if blink_counter < times and now - last_blink >= (is_light_on_tm and high or low) then
gpio:toggle(LIGHT_PIN)
is_light_on_tm = not is_light_on_tm
if is_light_on_tm then
relay:on(RELAY_NUM)
gpio:write(LIGHT_PIN, 1)
else
relay:off(RELAY_NUM)
gpio:write(LIGHT_PIN, 0)
end
last_blink = now
if not is_light_on_tm then -- Increment the counter when the light turns off
Expand All @@ -135,7 +137,7 @@ function update() -- this is the loop which periodically runs

-- Turn off the light at the end of the cycle
if blink_counter >= times and is_light_on_tm then
relay:off(RELAY_NUM)
gpio:write(LIGHT_PIN, 0)
is_light_on_tm = false
end

Expand Down
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