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Remove bio output. Consolidate CAN commands

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This commit is contained in:
Tristan McGinnis
2025-05-28 09:19:42 -06:00
parent 3dd544d711
commit 1ea247bac0
1 changed files with 10 additions and 10 deletions
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20
src/bio_pkg/bio_pkg/bio_node.py
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@@ -144,10 +144,11 @@ class SerialRelay(Node):
# LSS (SCYTHE) # LSS (SCYTHE)
command = "can_relay_tovic,citadel,24," + str(msg.bio_arm) + "\n" command = "can_relay_tovic,citadel,24," + str(msg.bio_arm) + "\n"
self.send_cmd(command) #self.send_cmd(command)
# Vibration Motor # Vibration Motor
command = "can_relay_tovic,citadel,26," + str(msg.vibration_motor) + "\n" command += "can_relay_tovic,citadel,26," + str(msg.vibration_motor) + "\n"
self.send_cmd(command) #self.send_cmd(command)
# FAERIE Control Commands # FAERIE Control Commands
@@ -156,16 +157,15 @@ class SerialRelay(Node):
# To be reviewed before use# # To be reviewed before use#
# Laser # Laser
command = "can_relay_tovic,digit,28," + str(msg.laser) + "\n" command += "can_relay_tovic,digit,28," + str(msg.laser) + "\n"
self.send_cmd(command) #self.send_cmd(command)
# Drill (SCABBARD) # Drill (SCABBARD)
command = f"can_relay_tovic,digit,19,{msg.drill:.2f}\n" command += f"can_relay_tovic,digit,19,{msg.drill:.2f}\n"
print(msg.drill) #self.send_cmd(command)
self.send_cmd(command)
# Bio linear actuator # 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) self.send_cmd(command)
@@ -182,7 +182,7 @@ class SerialRelay(Node):
def anchor_feedback(self, msg: String): def anchor_feedback(self, msg: String):
output = msg.data output = msg.data
parts = str(output.strip()).split(",") 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 if output.startswith("can_relay_fromvic,citadel,54"): # bat, 12, 5, Voltage readings * 100
self.bio_feedback.bat_voltage = float(parts[3]) / 100.0 self.bio_feedback.bat_voltage = float(parts[3]) / 100.0