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fixed embedded safety timeout on action -riley

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SHC-ASTRA
2026-02-23 23:42:09 -06:00
parent 5a2358a176
commit 24b805d37c
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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@@ -191,20 +191,20 @@ class SerialRelay(Node):
) )
) )
# set fan duty cycle
self.anchor_tovic_pub_.publish(
VicCAN(
header=Header(stamp=self.get_clock().now().to_msg()),
mcu_name="citadel",
command_id=19,
data=[float(duty)],
)
)
feedback = BioVacuum.Feedback() feedback = BioVacuum.Feedback()
start = time.time() start = time.time()
while True: while True:
# set fan duty cycle
self.anchor_tovic_pub_.publish(
VicCAN(
header=Header(stamp=self.get_clock().now().to_msg()),
mcu_name="citadel",
command_id=19,
data=[float(duty)],
)
)
elapsed = int((time.time() - start) * 1000) elapsed = int((time.time() - start) * 1000)
remaining = max(0, total - elapsed) remaining = max(0, total - elapsed)