From a3044963e5b05628a258ce05ee208444cc563703 Mon Sep 17 00:00:00 2001 From: David Date: Sat, 14 Feb 2026 13:19:49 -0600 Subject: [PATCH] feat: (arm) lin ac go back in too --- src/headless_pkg/src/headless_node.py | 11 ++++++++--- 1 file changed, 8 insertions(+), 3 deletions(-) diff --git a/src/headless_pkg/src/headless_node.py b/src/headless_pkg/src/headless_node.py index 1cc3e5e..9747bef 100755 --- a/src/headless_pkg/src/headless_node.py +++ b/src/headless_pkg/src/headless_node.py @@ -354,9 +354,9 @@ class Headless(Node): # Triggers: EF grippers # Bumpers: EF roll # A: brake - # B: _ + # B: linear actuator in # X: _ - # Y: linear actuator + # Y: linear actuator out ARM_THRESHOLD = 0.2 @@ -402,8 +402,13 @@ class Headless(Node): arm_input.brake = True # Y: linear actuator - if button_y: + if button_y and not button_b: arm_input.linear_actuator = 1 + elif button_b and not button_y: + arm_input.linear_actuator = -1 + else: + arm_input.linear_actuator = 0 + # BIO bio_input = BioControl(