From 1ea247bac068ee4473402280ccce4e3a5a47aea1 Mon Sep 17 00:00:00 2001 From: Tristan McGinnis Date: Wed, 28 May 2025 09:19:42 -0600 Subject: [PATCH] Remove bio output. Consolidate CAN commands --- src/bio_pkg/bio_pkg/bio_node.py | 20 ++++++++++---------- 1 file changed, 10 insertions(+), 10 deletions(-) diff --git a/src/bio_pkg/bio_pkg/bio_node.py b/src/bio_pkg/bio_pkg/bio_node.py index e901e5b..ad8f40b 100644 --- a/src/bio_pkg/bio_pkg/bio_node.py +++ b/src/bio_pkg/bio_pkg/bio_node.py @@ -144,10 +144,11 @@ class SerialRelay(Node): # LSS (SCYTHE) command = "can_relay_tovic,citadel,24," + str(msg.bio_arm) + "\n" - self.send_cmd(command) + #self.send_cmd(command) + # Vibration Motor - command = "can_relay_tovic,citadel,26," + str(msg.vibration_motor) + "\n" - self.send_cmd(command) + command += "can_relay_tovic,citadel,26," + str(msg.vibration_motor) + "\n" + #self.send_cmd(command) # FAERIE Control Commands @@ -156,16 +157,15 @@ class SerialRelay(Node): # To be reviewed before use# # Laser - command = "can_relay_tovic,digit,28," + str(msg.laser) + "\n" - self.send_cmd(command) + command += "can_relay_tovic,digit,28," + str(msg.laser) + "\n" + #self.send_cmd(command) # Drill (SCABBARD) - command = f"can_relay_tovic,digit,19,{msg.drill:.2f}\n" - print(msg.drill) - self.send_cmd(command) + command += f"can_relay_tovic,digit,19,{msg.drill:.2f}\n" + #self.send_cmd(command) # Bio linear actuator - command = "can_relay_tovic,digit,42," + str(msg.drill_arm) + "\n" + command += "can_relay_tovic,digit,42," + str(msg.drill_arm) + "\n" self.send_cmd(command) @@ -182,7 +182,7 @@ class SerialRelay(Node): def anchor_feedback(self, msg: String): output = msg.data parts = str(output.strip()).split(",") - self.get_logger().info(f"[Bio Anchor] {msg.data}") + #self.get_logger().info(f"[Bio Anchor] {msg.data}") if output.startswith("can_relay_fromvic,citadel,54"): # bat, 12, 5, Voltage readings * 100 self.bio_feedback.bat_voltage = float(parts[3]) / 100.0