From d879a3bae4e2ca3c3ac6015c5d23acfcd3f4d522 Mon Sep 17 00:00:00 2001 From: David Date: Tue, 21 Oct 2025 10:41:34 -0500 Subject: [PATCH] feat: add drill to bio headless --- src/astra_descriptions | 2 +- src/headless_pkg/src/headless_node.py | 13 ++++++++++++- 2 files changed, 13 insertions(+), 2 deletions(-) diff --git a/src/astra_descriptions b/src/astra_descriptions index aaddaef..b0492a0 160000 --- a/src/astra_descriptions +++ b/src/astra_descriptions @@ -1 +1 @@ -Subproject commit aaddaef90c3561475f46ed857b1428b7c334f638 +Subproject commit b0492a0ea73cd6fe4bbaf1441777e04f4b39749a diff --git a/src/headless_pkg/src/headless_node.py b/src/headless_pkg/src/headless_node.py index a57612c..15883c6 100755 --- a/src/headless_pkg/src/headless_node.py +++ b/src/headless_pkg/src/headless_node.py @@ -262,7 +262,18 @@ class Headless(Node): # BIO - bio_input = BioControl(bio_arm=int(left_stick_y * -100), drill_arm=int(round(right_stick_y) * -100)) + bio_input = BioControl( + bio_arm=int(left_stick_y * -100), + drill_arm=int(round(right_stick_y) * -100) + ) + + # Drill motor (FAERIE) + if left_trigger > 0 and right_trigger > 0: + bio_input.drill = 0 + elif left_trigger > 0: + bio_input.drill = -100 + elif right_trigger > 0: + bio_input.drill = 100 self.core_publisher.publish(CORE_STOP_MSG) self.arm_publisher.publish(arm_input)