From 4a9a0bfb0d005f67d78257147d179a9a6e40a67c Mon Sep 17 00:00:00 2001 From: David Sharpe <141351863+ds196@users.noreply.github.com> Date: Thu, 22 May 2025 23:37:44 -0500 Subject: [PATCH] feat: add auto turnto function (#9) * Subup * subup interface pkg again * Add turnto check in core_node * fix cpp syntax oops --------- Co-authored-by: Tristan McGinnis --- src/core_pkg/core_pkg/core_node.py | 5 ++++- src/ros2_interfaces_pkg | 2 +- 2 files changed, 5 insertions(+), 2 deletions(-) diff --git a/src/core_pkg/core_pkg/core_node.py b/src/core_pkg/core_pkg/core_node.py index f04be98..a2b5cd3 100644 --- a/src/core_pkg/core_pkg/core_node.py +++ b/src/core_pkg/core_pkg/core_node.py @@ -171,7 +171,10 @@ class SerialRelay(Node): def send_controls(self, msg): #can_relay_tovic,core,19, left_stick, right_stick - command = "can_relay_tovic,core,19," + self.scale_duty(msg.left_stick, msg.max_speed) + ',' + self.scale_duty(msg.right_stick, msg.max_speed) + '\n' + if(msg.turn_to_enable): + command = "can_relay_tovic,core,41," + msg.turn_to + ',' + msg.turn_to_timeout + '\n' + else: + command = "can_relay_tovic,core,19," + self.scale_duty(msg.left_stick, msg.max_speed) + ',' + self.scale_duty(msg.right_stick, msg.max_speed) + '\n' self.send_cmd(command) diff --git a/src/ros2_interfaces_pkg b/src/ros2_interfaces_pkg index d2bdbed..f7f39a6 160000 --- a/src/ros2_interfaces_pkg +++ b/src/ros2_interfaces_pkg @@ -1 +1 @@ -Subproject commit d2bdbedb2685644fbf6588cd4ad0bd6112777a4a +Subproject commit f7f39a635287f242a8feacb1792332c0521fc5a7