From 44aa4b0848f9ff8417799738983d7f8b5100b411 Mon Sep 17 00:00:00 2001 From: David Date: Thu, 23 Oct 2025 01:00:13 -0500 Subject: [PATCH] feat: ramp drill speed --- src/headless_pkg/src/headless_node.py | 8 ++------ 1 file changed, 2 insertions(+), 6 deletions(-) diff --git a/src/headless_pkg/src/headless_node.py b/src/headless_pkg/src/headless_node.py index 15883c6..d8df59d 100755 --- a/src/headless_pkg/src/headless_node.py +++ b/src/headless_pkg/src/headless_node.py @@ -268,12 +268,8 @@ class Headless(Node): ) # Drill motor (FAERIE) - if left_trigger > 0 and right_trigger > 0: - bio_input.drill = 0 - elif left_trigger > 0: - bio_input.drill = -100 - elif right_trigger > 0: - bio_input.drill = 100 + if deadzone(left_trigger) > 0 or deadzone(right_trigger) > 0: + bio_input.drill = 100 * right_trigger - 100 * left_trigger self.core_publisher.publish(CORE_STOP_MSG) self.arm_publisher.publish(arm_input)