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fix: arm/bio headless works again

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I hate python
This commit is contained in:
David
2025-09-30 11:56:05 -05:00
parent 97fa17a4a8
commit 8c5287158d
1 changed files with 4 additions and 4 deletions
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8
src/headless_pkg/src/headless_node.py
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@@ -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)