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Merge pull request #7 from SHC-ASTRA/refactor-for-performance

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consolidate manual control commands
This commit is contained in:
Tristan McGinnis
2025-05-15 16:56:31 -05:00
committed by GitHub
parent 73f616a198 c5cc167891
commit 9344f741f7
2 changed files with 12 additions and 11 deletions
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2
src/arm_pkg/arm_pkg/arm_headless.py
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@@ -28,7 +28,7 @@ class Headless(Node):
# Depricated, kept temporarily for reference
# self.create_timer(0.20, self.send_controls)#read and send controls
self.create_timer(0.20, self.send_manual)
self.create_timer(0.1, self.send_manual)
# Create a publisher to publish any output the pico sends

21
src/arm_pkg/arm_pkg/arm_node.py
View File

@@ -95,7 +95,7 @@ class SerialRelay(Node):
try:
output = str(self.ser.readline(), "utf8")
if output:
self.get_logger().info(f"[MCU] {output}")
#self.get_logger().info(f"[MCU] {output}")
msg = String()
msg.data = output
self.debug_pub.publish(msg)
@@ -128,19 +128,19 @@ class SerialRelay(Node):
#Send controls for arm
command = "can_relay_tovic,arm,39," + str(axis0) + "," + str(axis1) + "," + str(axis2) + "," + str(axis3) + "\n"
self.send_cmd(command)
#self.send_cmd(command)
#Send controls for end effector
command = "can_relay_tovic,digit,35," + str(msg.effector_roll) + "\n"
self.send_cmd(command)
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"
self.send_cmd(command)
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"
self.send_cmd(command)
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"
self.send_cmd(command)
@@ -169,7 +169,8 @@ class SerialRelay(Node):
self.ser.write(bytes(msg, "utf8"))
def anchor_feedback(self, msg):
self.get_logger().info(f"[Arm Anchor] {msg.data}")
pass
#self.get_logger().info(f"[Arm Anchor] {msg.data}")
#self.send_cmd(msg.data)