From 8c5287158dc6ede0078225176c0c998c6acea0a7 Mon Sep 17 00:00:00 2001 From: David Date: Tue, 30 Sep 2025 11:56:05 -0500 Subject: [PATCH] fix: arm/bio headless works again I hate python --- src/headless_pkg/src/headless_node.py | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/src/headless_pkg/src/headless_node.py b/src/headless_pkg/src/headless_node.py index cc80f9f..e90236c 100755 --- a/src/headless_pkg/src/headless_node.py +++ b/src/headless_pkg/src/headless_node.py @@ -131,9 +131,9 @@ class Headless(Node): new_ctrl_mode = "core" if new_ctrl_mode != self.ctrl_mode: - self.gamepad.rumble(0.5, 0.5, 100) - ctrl_mode = new_ctrl_mode - self.get_logger().info(f"Switched to {ctrl_mode} control mode") + self.gamepad.rumble(0.6, 0.7, 75) + self.ctrl_mode = new_ctrl_mode + self.get_logger().info(f"Switched to {self.ctrl_mode} control mode") # CORE @@ -266,7 +266,7 @@ class Headless(Node): # BIO - bio_input = BioControl(bio_arm=(left_stick_y * -100), drill_arm=(round(right_stick_y) * -100)) + bio_input = BioControl(bio_arm=int(left_stick_y * -100), drill_arm=int(round(right_stick_y) * -100)) self.core_publisher.publish(CORE_STOP_MSG) self.arm_publisher.publish(arm_input)