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fix arm not spinning

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This commit is contained in:
Tristan McGinnis
2025-02-20 15:25:18 -06:00
parent 4090f63890
commit 3f3b0f4302
1 changed files with 8 additions and 7 deletions
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15
src/arm_pkg/arm_pkg/arm_node.py
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@@ -76,17 +76,18 @@ class SerialRelay(Node):
thread.start() thread.start()
#if in arm mode, will need to read from the MCU #if in arm mode, will need to read from the MCU
if self.launch_mode == 'arm':
try: try:
while rclpy.ok(): while rclpy.ok():
if self.launch_mode == 'arm':
if self.ser.in_waiting: if self.ser.in_waiting:
self.read_mcu() self.read_mcu()
else: else:
time.sleep(0.1) time.sleep(0.1)
except KeyboardInterrupt: except KeyboardInterrupt:
pass pass
finally: finally:
self.cleanup() self.cleanup()
#Currently will just spit out all values over the /arm/feedback/debug topic as strings #Currently will just spit out all values over the /arm/feedback/debug topic as strings