Hi, I’ve been messing around inside openag_brain again and I’m curious how the actuation part works?
What I want to do: just oscillate a
binary_actuator between on/off to start off.
Through my digging around my guess is that you use
software_modules to control the actuators, and
openag_brain:direct_controller.py looks like the relevant piece here. Also, by looking at the other fixtures I assume this is the correct syntax for a direct_controller.
This adds a
/environments/environment_1/circulation/commanded topic, so I’m assuming that everything I need is there.
The question is what the “correct” way to have that topic publish is?