From 136fc01d737e2fe2459161ec1570065b01870817 Mon Sep 17 00:00:00 2001 From: Tristan McGinnis Date: Sat, 22 Feb 2025 01:24:16 -0600 Subject: [PATCH] add effector CAN relay commands to arm_node --- src/arm_pkg/arm_pkg/arm_node.py | 18 +++++++++++++++++- 1 file changed, 17 insertions(+), 1 deletion(-) diff --git a/src/arm_pkg/arm_pkg/arm_node.py b/src/arm_pkg/arm_pkg/arm_node.py index e5c2c64..e5a0ba8 100644 --- a/src/arm_pkg/arm_pkg/arm_node.py +++ b/src/arm_pkg/arm_pkg/arm_node.py @@ -125,10 +125,26 @@ class SerialRelay(Node): axis1 = msg.axis1 axis2 = msg.axis2 axis3 = msg.axis3 + #Send controls for arm command = "can_relay_tovic,arm,40," + str(axis0) + "," + str(axis1) + "," + str(axis2) + "," + str(axis3) + "\n" - self.send_cmd(command) + + #Send controls for end effector + command = "can_relay_tovic_digit,35," + str(msg.effector_roll) + "\n" + self.send_cmd(command) + + command = "can_relay_tovic_digit,36,0," + str(msg.effector_yaw) + "\n" + self.send_cmd(command) + + command = "can_relay_tovic_digit,26," + str(msg.gripper) + "\n" + self.send_cmd(command) + + command = "can_relay_tovic_digit,28," + str(msg.laser) + "\n" + self.send_cmd(command) + + + #print(f"[Wrote] {command}", end="") #Not yet finished, needs embedded implementation for new commands