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add effector CAN relay commands to arm_node

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Tristan McGinnis
2025-02-22 01:24:16 -06:00
parent 6d67c60d51
commit 136fc01d73
1 changed files with 17 additions and 1 deletions
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18
src/arm_pkg/arm_pkg/arm_node.py
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@@ -125,10 +125,26 @@ class SerialRelay(Node):
axis1 = msg.axis1 axis1 = msg.axis1
axis2 = msg.axis2 axis2 = msg.axis2
axis3 = msg.axis3 axis3 = msg.axis3
#Send controls for arm #Send controls for arm
command = "can_relay_tovic,arm,40," + str(axis0) + "," + str(axis1) + "," + str(axis2) + "," + str(axis3) + "\n" command = "can_relay_tovic,arm,40," + str(axis0) + "," + str(axis1) + "," + str(axis2) + "," + str(axis3) + "\n"
self.send_cmd(command) 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="") #print(f"[Wrote] {command}", end="")
#Not yet finished, needs embedded implementation for new commands #Not yet finished, needs embedded implementation for new commands