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Subup and update for interface changes

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This commit is contained in:
Tristan McGinnis
2025-02-27 13:44:25 -06:00
parent 1ccc2e5def
commit d38f44a47e
2 changed files with 13 additions and 12 deletions
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23
src/bio_pkg/bio_pkg/bio_node.py
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@@ -123,24 +123,24 @@ class SerialRelay(Node):
# Chem Pumps, only send if not zero
if msg.pumpID != 0:
command = "can_relay_tovic,citadel,27," + str(msg.pumpID) + "," + str(msg.pumpAmount) + "\n"
if msg.pump_id != 0:
command = "can_relay_tovic,citadel,27," + str(msg.pump_id) + "," + str(msg.pump_amount) + "\n"
self.send_cmd(command)
# Fans, only send if not zero
if msg.fanID != 0:
command = "can_relay_tovic,citadel,40," + str(msg.fanID) + "," + str(msg.fanDuration) + "\n"
if msg.fan_id != 0:
command = "can_relay_tovic,citadel,40," + str(msg.fan_id) + "," + str(msg.fan_duration) + "\n"
self.send_cmd(command)
# Servos, only send if not zero
if msg.servoID != 0:
command = "can_relay_tovic,citadel,25," + str(msg.servoID) + "," + str(msg.servoPosition) + "\n"
if msg.servo_id != 0:
command = "can_relay_tovic,citadel,25," + str(msg.servo_id) + "," + str(msg.servo_position) + "\n"
self.send_cmd(command)
# LSS
command = "can_relay_tovic,citadel,24," + str(msg.lssDirection) + "\n"
command = "can_relay_tovic,citadel,24," + str(msg.lss_direction) + "\n"
self.send_cmd(command)
# Vibration Motor
command = "can_relay_tovic,citadel,26," + str(msg.vibrationMotor) + "\n"
command = "can_relay_tovic,citadel,26," + str(msg.vibration_motor) + "\n"
self.send_cmd(command)
@@ -157,9 +157,10 @@ class SerialRelay(Node):
# command = "can_relay_tovic,faerie,38," + str(msg.uvLight) + "\n"
# self.send_cmd(command)
# # Drill
# command = "can_relay_tovic,faerie,19," + str(msg.drillDuty) + "\n"
# self.send_cmd(command)
# Drill
command = "can_relay_tovic,faerie,19," + str(msg.drill_duty) + "\n"
print(msg.drill_duty)
self.send_cmd(command)

2
src/ros2_interfaces_pkg

Submodule src/ros2_interfaces_pkg updated: d2bdbedb26...ca65155cd7