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fix: round float imu_calib

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David
2025-05-26 02:36:51 +00:00
parent 9f3ff0f8df
commit 7027900620
1 changed files with 2 additions and 2 deletions
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4
src/core_pkg/core_pkg/core_node.py
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@@ -192,7 +192,7 @@ class SerialRelay(Node):
self.get_logger().info(f"[Core to MCU] {msg}") self.get_logger().info(f"[Core to MCU] {msg}")
self.ser.write(bytes(msg, "utf8")) self.ser.write(bytes(msg, "utf8"))
def anchor_feedback(self, msg): def anchor_feedback(self, msg: String):
output = msg.data output = msg.data
parts = str(output.strip()).split(",") parts = str(output.strip()).split(",")
#self.get_logger().info(f"[ANCHOR FEEDBACK parts] {parts}") #self.get_logger().info(f"[ANCHOR FEEDBACK parts] {parts}")
@@ -206,7 +206,7 @@ class SerialRelay(Node):
self.core_feedback.bno_gyro.x = float(parts[3]) self.core_feedback.bno_gyro.x = float(parts[3])
self.core_feedback.bno_gyro.y = float(parts[4]) self.core_feedback.bno_gyro.y = float(parts[4])
self.core_feedback.bno_gyro.z = float(parts[5]) self.core_feedback.bno_gyro.z = float(parts[5])
self.core_feedback.imu_calib = int(parts[6]) self.core_feedback.imu_calib = round(float(parts[6]))
elif output.startswith("can_relay_fromvic,core,52"):#Accel x,y,z, heading *10 elif output.startswith("can_relay_fromvic,core,52"):#Accel x,y,z, heading *10
self.core_feedback.bno_accel.x = float(parts[3]) self.core_feedback.bno_accel.x = float(parts[3])
self.core_feedback.bno_accel.y = float(parts[4]) self.core_feedback.bno_accel.y = float(parts[4])