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refactor!: スラスタのON/OFFの仕様を変更 #274

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refactor!: スラスタのON/OFFの仕様を変更 #274

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@yk4to yk4to commented Jan 11, 2026

close #271

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yk4to commented Jan 11, 2026

rogy-AquaLab/sinsei_UMIUSI_msgs#6 への対応を行いました。

あとは各スラスタのdisabledパラメーターを実装します。

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yk4to commented Jan 11, 2026

ThrusterController視点で考えると

  • Runnable (Input Command、bool型)
  • disabled (パラメーター)

を受け取り、それらを元に

  • Allowed (Output Command、bool型)
  • Mode (Output State)

を出力します。

AllowedはHardware Componentに渡す「最終的にスラスタを動かしていいかどうか」です。命名が微妙であれば一括置換でEnabledに戻します

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スラスタのON/OFFの仕様を変更

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