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Arduino code for LED-Personalisation and E-Stop state publishing

The base Clearpath configuration for the LED has been kept, to customize the lights color's the user must publish on thewarthog/platform/cmd_lights topic all three RGB componnents must be published at a minimal rate of 1Hz which is the maximum time interval set for ros in the arduino code see an examplehere . A white balance is also integrated in the arduino code here are the rationsR:0.5G:1B:0.75 to change see user constants on the top of the arduino sketch.

From the LED control wiki page here is the table of behaviors for the led and the order of priority in which they interact with each other. To change the behaviors of different state, the order of priority or add new behaviors modify the placement of the differentelse if blocks in the main loop of the arduino codehere.

Priority ranked LED behavior

Empty ---------------------------> Full

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