Lumen 2025

src/lumen/lumen.cpp

@@ -1,11 +1,24 @@
 #include "lumen.hpp"
 
 namespace sensing_and_control_unit {
+
 Lumen::Lumen() {}
 Lumen::~Lumen() {}
 
-void Lumen::initialize() {}
+void Lumen::initialize()
+{
+     lumen_.attach(kLumenPin);   
+    lumen_.writeMicroseconds(min_pwm);//off
+}
+
+// void Lumen::initialize(ros::NodeHandle &nh) {
+//     lumen_.attach(kLumenPin);   
+//     lumen_.writeMicroseconds(min_pwm);//off
+// }
 
-void Lumen::setBrightness(int brightness) {}
+void Lumen::setBrightness(int brightness) {
+    int pwm = map(brightness, 0, 100, min_pwm, max_pwm);   
+    lumen_.writeMicroseconds(pwm);   
+}
 
 }  // namespace sensing_and_control_unit

src/lumen/lumen.hpp

@@ -1,20 +1,22 @@
 #ifndef SENSING_AND_CONTROL_UNIT_SRC_LUMEN_LUMEN_HPP
 #define SENSING_AND_CONTROL_UNIT_SRC_LUMEN_LUMEN_HPP
 #include <Servo.h>
-
 #include "pins_info.hpp"
+#include "Arduino.h"
 
 namespace sensing_and_control_unit {
 class Lumen {
  private:
   Servo lumen_;
+  static const int min_pwm = 1100;
+  static const int max_pwm = 1900;
 
  public:
-  Lumen(/* args */);
+  Lumen();
   ~Lumen();
   void initialize();
   void setBrightness(int brightness);
 };
 }  // namespace sensing_and_control_unit
 
-#endif  // SENSING_AND_CONTROL_UNIT_SRC_LUMEN_LUMEN_HPP
+#endif  // SENSING_AND_CONTROL_UNIT_SRC_LUMEN_LUMEN_HPP