aaron/rover-ros2
1
0
Fork 0
mirror of https://github.com/SHC-ASTRA/rover-ros2.git synced 2026-02-11 09:20:40 +00:00
Code Issues Packages Projects Releases Wiki Activity

comment out some stuff to test delays

Browse Source
This commit is contained in:
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
Download Patch File Download Diff File Expand all files Collapse all files

31
src/arm_pkg/arm_pkg/arm_node.py
View File

@@ -129,11 +129,14 @@ class SerialRelay(Node):
output = str(self.ser.readline(), "utf8") output = str(self.ser.readline(), "utf8")
if output: if output:
if output.startswith("can_relay_fromvic,arm,55"): if output.startswith("can_relay_fromvic,arm,55"):
self.recordAngleFeedback(output) pass
#self.recordAngleFeedback(output)
elif output.startswith("can_relay_fromvic,arm,54"): elif output.startswith("can_relay_fromvic,arm,54"):
self.recordBusVoltage(output) pass
#self.recordBusVoltage(output)
elif output.startswith("can_relay_fromvic,arm,53"): elif output.startswith("can_relay_fromvic,arm,53"):
self.recordMotorFeedback(output) pass
#self.recordMotorFeedback(output)
self.get_logger().info(f"[MCU] {output}") self.get_logger().info(f"[MCU] {output}")
msg = String() msg = String()
msg.data = "From MCU Got: " + output msg.data = "From MCU Got: " + output
@@ -176,17 +179,17 @@ class SerialRelay(Node):
angles.append(0.0)#placeholder for wrist angles.append(0.0)#placeholder for wrist
# #
# #
# Update the arm's current angles # # Update the arm's current angles
self.arm.update_angles(angles) # self.arm.update_angles(angles)
self.arm_feedback.axis0_angle = angles[0] # self.arm_feedback.axis0_angle = angles[0]
self.arm_feedback.axis1_angle = angles[1] # self.arm_feedback.axis1_angle = angles[1]
self.arm_feedback.axis2_angle = angles[2] # self.arm_feedback.axis2_angle = angles[2]
self.arm_feedback.axis3_angle = angles[3] # self.arm_feedback.axis3_angle = angles[3]
self.get_logger().info(f"Angles: {angles}") # self.get_logger().info(f"Angles: {angles}")
#debug publish angles # #debug publish angles
tempMsg = String() # tempMsg = String()
tempMsg.data = "Angles: " + str(angles) # tempMsg.data = "Angles: " + str(angles)
#self.debug_pub.publish(tempMsg) # #self.debug_pub.publish(tempMsg)
else: else:
self.get_logger().info("Invalid angle feedback input format") self.get_logger().info("Invalid angle feedback input format")