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

feat: add drill to bio headless

Browse Source
This commit is contained in:
David
2025-10-21 10:41:34 -05:00
parent ed7efb4583
commit d879a3bae4
2 changed files with 13 additions and 2 deletions
Download Patch File Download Diff File Expand all files Collapse all files

2
src/astra_descriptions

Submodule src/astra_descriptions updated: aaddaef90c...b0492a0ea7

13
src/headless_pkg/src/headless_node.py
View File

@@ -262,7 +262,18 @@ class Headless(Node):
# BIO # 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.core_publisher.publish(CORE_STOP_MSG)
self.arm_publisher.publish(arm_input) self.arm_publisher.publish(arm_input)