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fix: arm brake mode now casts correctly

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This commit is contained in:
David Sharpe
2025-05-31 09:51:05 -05:00
committed by GitHub
parent d4543a224a
commit 6f80d628b1
1 changed files with 5 additions and 6 deletions
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9
src/arm_pkg/arm_pkg/arm_node.py
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@@ -133,19 +133,18 @@ class SerialRelay(Node):
axis3 = msg.axis3 axis3 = msg.axis3
#Send controls for arm #Send controls for arm
command = "can_relay_tovic,arm,18," + str(msg.brake) + "\n" command = "can_relay_tovic,arm,18," + str(int(msg.brake)) + "\n"
command += "can_relay_tovic,arm,39," + str(axis0) + "," + str(axis1) + "," + str(axis2) + "," + str(axis3) + "\n" command += "can_relay_tovic,arm,39," + str(axis0) + "," + str(axis1) + "," + str(axis2) + "," + str(axis3) + "\n"
#self.send_cmd(command)
#Send controls for end effector #Send controls for end effector
command += "can_relay_tovic,digit,35," + str(msg.effector_roll) + "\n" command += "can_relay_tovic,digit,35," + str(msg.effector_roll) + "\n"
#self.send_cmd(command)
command += "can_relay_tovic,digit,36,0," + str(msg.effector_yaw) + "\n" command += "can_relay_tovic,digit,36,0," + str(msg.effector_yaw) + "\n"
#self.send_cmd(command)
command += "can_relay_tovic,digit,26," + str(msg.gripper) + "\n" command += "can_relay_tovic,digit,26," + str(msg.gripper) + "\n"
#self.send_cmd(command)
command += "can_relay_tovic,digit,28," + str(msg.laser) + "\n" command += "can_relay_tovic,digit,28," + str(msg.laser) + "\n"