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Update Citadel vicCAN cmd IDS & subup

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This commit is contained in:
Tristan McGinnis
2025-02-26 11:06:42 -06:00
parent fe7e00d7b8
commit 068ecbae4b
2 changed files with 26 additions and 13 deletions
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37
src/bio_pkg/bio_pkg/bio_node.py
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@@ -118,6 +118,10 @@ class SerialRelay(Node):
def send_control(self, msg):
# CITADEL Control Commands
################
# Chem Pumps, only send if not zero
if msg.pumpID != 0:
command = "can_relay_tovic,citadel,27," + str(msg.pumpID) + "," + str(msg.pumpAmount) + "\n"
@@ -130,23 +134,32 @@ class SerialRelay(Node):
if msg.servoID != 0:
command = "can_relay_tovic,citadel,25," + str(msg.servoID) + "," + str(msg.servoPosition) + "\n"
self.send_cmd(command)
#Always update for turning on/off
# LSS
command = "can_relay_tovic,citadel,26," + str(msg.lssDirection) + "\n"
self.send_cmd(command)
# Drill
command = "can_relay_tovic,citadel,19," + str(msg.drillDuty) + "\n"
command = "can_relay_tovic,citadel,24," + str(msg.lssDirection) + "\n"
self.send_cmd(command)
# Vibration Motor
command = "can_relay_tovic,citadel,37," + str(msg.vibrationMotor) + "\n"
self.send_cmd(command)
# Laser
command = "can_relay_tovic,citadel,28," + str(msg.laser) + "\n"
self.send_cmd(command)
# UV Light
command = "can_relay_tovic,citadel,38," + str(msg.uvLight) + "\n"
command = "can_relay_tovic,citadel,26," + str(msg.vibrationMotor) + "\n"
self.send_cmd(command)
# FAERIE Control Commands
################
# To be reviewed before use#
# # Laser
# command = "can_relay_tovic,faerie,28," + str(msg.laser) + "\n"
# self.send_cmd(command)
# # UV Light
# command = "can_relay_tovic,faerie,38," + str(msg.uvLight) + "\n"
# self.send_cmd(command)
# # Drill
# command = "can_relay_tovic,faerie,19," + str(msg.drillDuty) + "\n"
# self.send_cmd(command)