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feat: control wrist yaw and roll at same time

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Also made start_rosbag.sh actually executable ._.
This commit is contained in:
David
2025-09-15 11:43:22 -05:00
parent 00be1cef52
commit 49b8acc860
2 changed files with 5 additions and 6 deletions
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11
src/arm_pkg/arm_pkg/arm_node.py
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@@ -237,15 +237,13 @@ class SerialRelay(Node):
command += "can_relay_tovic,arm,39," + str(axis0) + "," + str(axis1) + "," + str(axis2) + "," + str(axis3) + "\n"
#Send controls for end effector
command += "can_relay_tovic,digit,35," + str(msg.effector_roll) + "\n"
command += "can_relay_tovic,digit,36,0," + str(msg.effector_yaw) + "\n"
# command += "can_relay_tovic,digit,35," + str(msg.effector_roll) + "\n"
# command += "can_relay_tovic,digit,36,0," + str(msg.effector_yaw) + "\n"
command += "can_relay_tovic,digit,39," + str(msg.effector_yaw) + "," + str(msg.effector_roll) + "\n"
command += "can_relay_tovic,digit,26," + str(msg.gripper) + "\n"
command += "can_relay_tovic,digit,28," + str(msg.laser) + "\n"
command += "can_relay_tovic,digit,34," + str(msg.linear_actuator) + "\n"
@@ -260,7 +258,7 @@ class SerialRelay(Node):
output.data = msg
self.anchor_pub.publish(output)
elif self.launch_mode == 'arm': #if in standalone mode, send to MCU directly
self.get_logger().info(f"[Arm to MCU] {msg.data}")
self.get_logger().info(f"[Arm to MCU] {msg}")
self.ser.write(bytes(msg, "utf8"))
def anchor_feedback(self, msg: String):
@@ -286,6 +284,7 @@ class SerialRelay(Node):
parts = msg.data.split(",")
if len(parts) >= 4:
self.digit_feedback.wrist_angle = float(parts[3])
# self.digit_feedback.wrist_roll = float(parts[4])
else:
return