From 0ea4c73876c85edbbcfe93030f5845b67cb55f70 Mon Sep 17 00:00:00 2001 From: Tristan McGinnis Date: Sat, 3 May 2025 17:17:05 -0500 Subject: [PATCH] comment out some stuff to test delays --- src/arm_pkg/arm_pkg/arm_node.py | 31 +++++++++++++++++-------------- 1 file changed, 17 insertions(+), 14 deletions(-) diff --git a/src/arm_pkg/arm_pkg/arm_node.py b/src/arm_pkg/arm_pkg/arm_node.py index f9110f5..866bfc6 100644 --- a/src/arm_pkg/arm_pkg/arm_node.py +++ b/src/arm_pkg/arm_pkg/arm_node.py @@ -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")