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comment out some stuff to test delays

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Tristan McGinnis
2025-05-03 17:17:05 -05:00
committed by David
parent 43fdc7587a
commit 0ea4c73876
1 changed files with 17 additions and 14 deletions
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31
src/arm_pkg/arm_pkg/arm_node.py
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@@ -129,11 +129,14 @@ class SerialRelay(Node):
output = str(self.ser.readline(), "utf8")
if output:
if output.startswith("can_relay_fromvic,arm,55"):
self.recordAngleFeedback(output)
pass
#self.recordAngleFeedback(output)
elif output.startswith("can_relay_fromvic,arm,54"):
self.recordBusVoltage(output)
pass
#self.recordBusVoltage(output)
elif output.startswith("can_relay_fromvic,arm,53"):
self.recordMotorFeedback(output)
pass
#self.recordMotorFeedback(output)
self.get_logger().info(f"[MCU] {output}")
msg = String()
msg.data = "From MCU Got: " + output
@@ -176,17 +179,17 @@ class SerialRelay(Node):
angles.append(0.0)#placeholder for wrist
#
#
# Update the arm's current angles
self.arm.update_angles(angles)
self.arm_feedback.axis0_angle = angles[0]
self.arm_feedback.axis1_angle = angles[1]
self.arm_feedback.axis2_angle = angles[2]
self.arm_feedback.axis3_angle = angles[3]
self.get_logger().info(f"Angles: {angles}")
#debug publish angles
tempMsg = String()
tempMsg.data = "Angles: " + str(angles)
#self.debug_pub.publish(tempMsg)
# # Update the arm's current angles
# self.arm.update_angles(angles)
# self.arm_feedback.axis0_angle = angles[0]
# self.arm_feedback.axis1_angle = angles[1]
# self.arm_feedback.axis2_angle = angles[2]
# self.arm_feedback.axis3_angle = angles[3]
# self.get_logger().info(f"Angles: {angles}")
# #debug publish angles
# tempMsg = String()
# tempMsg.data = "Angles: " + str(angles)
# #self.debug_pub.publish(tempMsg)
else:
self.get_logger().info("Invalid angle feedback input format")