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feat: populate motor status timestamps

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David
2025-09-10 23:57:21 -05:00
parent 5f8a4a0ca7
commit 660ceb560d
1 changed files with 8 additions and 0 deletions
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8
src/core_pkg/core_pkg/core_node.py
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@@ -306,6 +306,7 @@ class SerialRelay(Node):
self.core_feedback.fl_temp = temp self.core_feedback.fl_temp = temp
self.core_feedback.fl_voltage = voltage self.core_feedback.fl_voltage = voltage
self.core_feedback.fl_current = current self.core_feedback.fl_current = current
self.feedback_new_state.fl_motor.header.stamp = self.get_clock().now().to_msg()
self.feedback_new_state.fl_motor.temperature = temp # new self.feedback_new_state.fl_motor.temperature = temp # new
self.feedback_new_state.fl_motor.voltage = voltage # new self.feedback_new_state.fl_motor.voltage = voltage # new
self.feedback_new_state.fl_motor.current = current # new self.feedback_new_state.fl_motor.current = current # new
@@ -313,6 +314,7 @@ class SerialRelay(Node):
self.core_feedback.bl_temp = temp self.core_feedback.bl_temp = temp
self.core_feedback.bl_voltage = voltage self.core_feedback.bl_voltage = voltage
self.core_feedback.bl_current = current self.core_feedback.bl_current = current
self.feedback_new_state.bl_motor.header.stamp = self.get_clock().now().to_msg()
self.feedback_new_state.bl_motor.temperature = temp # new self.feedback_new_state.bl_motor.temperature = temp # new
self.feedback_new_state.bl_motor.voltage = voltage # new self.feedback_new_state.bl_motor.voltage = voltage # new
self.feedback_new_state.bl_motor.current = current # new self.feedback_new_state.bl_motor.current = current # new
@@ -320,6 +322,7 @@ class SerialRelay(Node):
self.core_feedback.fr_temp = temp self.core_feedback.fr_temp = temp
self.core_feedback.fr_voltage = voltage self.core_feedback.fr_voltage = voltage
self.core_feedback.fr_current = current self.core_feedback.fr_current = current
self.feedback_new_state.fr_motor.header.stamp = self.get_clock().now().to_msg()
self.feedback_new_state.fr_motor.temperature = temp # new self.feedback_new_state.fr_motor.temperature = temp # new
self.feedback_new_state.fr_motor.voltage = voltage # new self.feedback_new_state.fr_motor.voltage = voltage # new
self.feedback_new_state.fr_motor.current = current # new self.feedback_new_state.fr_motor.current = current # new
@@ -327,6 +330,7 @@ class SerialRelay(Node):
self.core_feedback.br_temp = temp self.core_feedback.br_temp = temp
self.core_feedback.br_voltage = voltage self.core_feedback.br_voltage = voltage
self.core_feedback.br_current = current self.core_feedback.br_current = current
self.feedback_new_state.br_motor.header.stamp = self.get_clock().now().to_msg()
self.feedback_new_state.br_motor.temperature = temp # new self.feedback_new_state.br_motor.temperature = temp # new
self.feedback_new_state.br_motor.voltage = voltage # new self.feedback_new_state.br_motor.voltage = voltage # new
self.feedback_new_state.br_motor.current = current # new self.feedback_new_state.br_motor.current = current # new
@@ -354,15 +358,19 @@ class SerialRelay(Node):
position = float(parts[4]) position = float(parts[4])
velocity = float(parts[5]) velocity = float(parts[5])
if motorId == 1: if motorId == 1:
self.feedback_new_state.fl_motor.header.stamp = self.get_clock().now().to_msg()
self.feedback_new_state.fl_motor.position = position # new self.feedback_new_state.fl_motor.position = position # new
self.feedback_new_state.fl_motor.velocity = velocity # new self.feedback_new_state.fl_motor.velocity = velocity # new
elif motorId == 2: elif motorId == 2:
self.feedback_new_state.bl_motor.header.stamp = self.get_clock().now().to_msg()
self.feedback_new_state.bl_motor.position = position # new self.feedback_new_state.bl_motor.position = position # new
self.feedback_new_state.bl_motor.velocity = velocity # new self.feedback_new_state.bl_motor.velocity = velocity # new
elif motorId == 3: elif motorId == 3:
self.feedback_new_state.fr_motor.header.stamp = self.get_clock().now().to_msg()
self.feedback_new_state.fr_motor.position = position # new self.feedback_new_state.fr_motor.position = position # new
self.feedback_new_state.fr_motor.velocity = velocity # new self.feedback_new_state.fr_motor.velocity = velocity # new
elif motorId == 4: elif motorId == 4:
self.feedback_new_state.br_motor.header.stamp = self.get_clock().now().to_msg()
self.feedback_new_state.br_motor.position = position # new self.feedback_new_state.br_motor.position = position # new
self.feedback_new_state.br_motor.velocity = velocity # new self.feedback_new_state.br_motor.velocity = velocity # new
else: else: