aaron/rover-ros2
1
0
Fork 0
mirror of https://github.com/SHC-ASTRA/rover-ros2.git synced 2026-02-11 09:20:40 +00:00
Code Issues Packages Projects Releases Wiki Activity

consolidate manual control commands

Browse Source
This commit is contained in:
Tristan McGinnis
2025-05-15 16:52:41 -05:00
parent 73f616a198
commit c5cc167891
2 changed files with 12 additions and 11 deletions
Download Patch File Download Diff File Expand all files Collapse all files

2
src/arm_pkg/arm_pkg/arm_headless.py
View File

@@ -28,7 +28,7 @@ class Headless(Node):
# Depricated, kept temporarily for reference # Depricated, kept temporarily for reference
# self.create_timer(0.20, self.send_controls)#read and send controls # 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 # 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: try:
output = str(self.ser.readline(), "utf8") output = str(self.ser.readline(), "utf8")
if output: if output:
self.get_logger().info(f"[MCU] {output}") #self.get_logger().info(f"[MCU] {output}")
msg = String() msg = String()
msg.data = output msg.data = output
self.debug_pub.publish(msg) self.debug_pub.publish(msg)
@@ -128,19 +128,19 @@ class SerialRelay(Node):
#Send controls for arm #Send controls for arm
command = "can_relay_tovic,arm,39," + str(axis0) + "," + str(axis1) + "," + str(axis2) + "," + str(axis3) + "\n" 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 #Send controls for end effector
command = "can_relay_tovic,digit,35," + str(msg.effector_roll) + "\n" command += "can_relay_tovic,digit,35," + str(msg.effector_roll) + "\n"
self.send_cmd(command) #self.send_cmd(command)
command = "can_relay_tovic,digit,36,0," + str(msg.effector_yaw) + "\n" command += "can_relay_tovic,digit,36,0," + str(msg.effector_yaw) + "\n"
self.send_cmd(command) #self.send_cmd(command)
command = "can_relay_tovic,digit,26," + str(msg.gripper) + "\n" command += "can_relay_tovic,digit,26," + str(msg.gripper) + "\n"
self.send_cmd(command) #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) self.send_cmd(command)
@@ -169,7 +169,8 @@ class SerialRelay(Node):
self.ser.write(bytes(msg, "utf8")) self.ser.write(bytes(msg, "utf8"))
def anchor_feedback(self, msg): 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) #self.send_cmd(msg.data)