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fix: update socketFeedback() class

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This commit is contained in:
Tristan McGinnis
2025-04-12 11:59:16 -05:00
committed by David
parent 85a231478e
commit a417034436
1 changed files with 14 additions and 13 deletions
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27
src/arm_pkg/arm_pkg/arm_node.py
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@@ -61,7 +61,7 @@ class SocketFeedback:
self.joint_angles = angles self.joint_angles = angles
arm_feedback = SocketFeedback()
class SerialRelay(Node): class SerialRelay(Node):
def __init__(self): def __init__(self):
@@ -91,6 +91,7 @@ class SerialRelay(Node):
self.arm_feedback = SocketFeedback() self.arm_feedback = SocketFeedback()
self.digit_feedback = DigitFeedback() self.digit_feedback = DigitFeedback()
self.arm = astra_arm.Arm('arm11.urdf') self.arm = astra_arm.Arm('arm11.urdf')
self.arm_feedback = SocketFeedback()
######## ########
# Interface with MCU # Interface with MCU
@@ -178,7 +179,7 @@ class SerialRelay(Node):
v_5 = float(voltages_in[2]) / 100.0 v_5 = float(voltages_in[2]) / 100.0
v_3 = float(voltages_in[3]) / 100.0 v_3 = float(voltages_in[3]) / 100.0
# Update the arm's current voltages # Update the arm's current voltages
arm_feedback.updateBusVoltages([v_bat, v_12, v_5, v_3]) self.arm_feedback.updateBusVoltages([v_bat, v_12, v_5, v_3])
else: else:
self.get_logger().info("Invalid voltage feedback input format") self.get_logger().info("Invalid voltage feedback input format")
elif output.startswith("can_relay_tovic,arm,53"): elif output.startswith("can_relay_tovic,arm,53"):
@@ -189,9 +190,9 @@ class SerialRelay(Node):
values_in = parts[3:7] values_in = parts[3:7]
# Convert the voltages to floats # Convert the voltages to floats
for i in range(4): for i in range(4):
arm_feedback.updateJointVoltages(i, float(values_in[i]) / 10.0) self.arm_feedback.updateJointVoltages(i, float(values_in[i]) / 10.0)
arm_feedback.updateJointCurrents(i, float(values_in[i]) / 10.0) self.arm_feedback.updateJointCurrents(i, float(values_in[i]) / 10.0)
arm_feedback.updateJointTemperatures(i, float(values_in[i]) / 10.0) self.arm_feedback.updateJointTemperatures(i, float(values_in[i]) / 10.0)
else: else:
self.get_logger().info("Invalid motor feedback input format") self.get_logger().info("Invalid motor feedback input format")
@@ -372,14 +373,14 @@ class SerialRelay(Node):
def socket_pub_callback(self): def socket_pub_callback(self):
# Create a SocketFeedback message and publish it # Create a SocketFeedback message and publish it
msg = SocketFeedback() msg = SocketFeedback()
msg.bat_voltage = arm_feedback.bat_voltage msg.bat_voltage = self.arm_feedback.bat_voltage
msg.voltage_12 = arm_feedback.voltage_12 msg.voltage_12 = self.arm_feedback.voltage_12
msg.voltage_5 = arm_feedback.voltage_5 msg.voltage_5 = self.arm_feedback.voltage_5
msg.voltage_3 = arm_feedback.voltage_3 msg.voltage_3 = self.arm_feedback.voltage_3
msg.joint_angles = arm_feedback.joint_angles msg.joint_angles = self.arm_feedback.joint_angles
msg.joint_temps = arm_feedback.joint_temps msg.joint_temps = self.arm_feedback.joint_temps
msg.joint_voltages = arm_feedback.joint_voltages msg.joint_voltages = self.arm_feedback.joint_voltages
msg.joint_currents = arm_feedback.joint_currents msg.joint_currents = self.arm_feedback.joint_currents
self.socket_pub.publish(msg) self.socket_pub.publish(msg)