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fix!: remove bio from headless

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Slows down controls too much, going to need to figure something out for speeding that up
This commit is contained in:
David
2025-10-01 11:18:31 -05:00
parent e5af28af3a
commit 87b2ab6f8c
1 changed files with 3 additions and 3 deletions
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6
src/headless_pkg/src/headless_node.py
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@@ -163,7 +163,7 @@ class Headless(Node):
self.core_publisher.publish(input)
self.arm_publisher.publish(ARM_STOP_MSG)
self.bio_publisher.publish(BIO_STOP_MSG)
# self.bio_publisher.publish(BIO_STOP_MSG)
elif self.ctrl_mode == "core" and CORE_MODE == "twist":
input = Twist()
@@ -182,7 +182,7 @@ class Headless(Node):
# Publish
self.core_twist_pub_.publish(input)
self.arm_publisher.publish(ARM_STOP_MSG)
self.bio_publisher.publish(BIO_STOP_MSG)
# self.bio_publisher.publish(BIO_STOP_MSG)
self.get_logger().info(f"[Core Ctrl] Linear: {round(input.linear.x, 2)}, Angular: {round(input.angular.z, 2)}")
# Brake mode
@@ -270,7 +270,7 @@ class Headless(Node):
self.core_publisher.publish(CORE_STOP_MSG)
self.arm_publisher.publish(arm_input)
self.bio_publisher.publish(bio_input)
# self.bio_publisher.publish(bio_input)
def deadzone(value: float, threshold=0.05) -> float: