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Tristan McGinnis
2025-05-07 13:39:48 -05:00
committed by David
parent 2c27c81dc5
commit da939cc381
1 changed files with 5 additions and 4 deletions
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9
src/arm_pkg/arm_pkg/arm_node.py
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@@ -131,8 +131,8 @@ class SerialRelay(Node):
output = str(self.ser.readline(), "utf8") output = str(self.ser.readline(), "utf8")
if output: if output:
if output.startswith("can_relay_fromvic,arm,55"): if output.startswith("can_relay_fromvic,arm,55"):
pass #pass
#self.updateAngleFeedback(output) self.updateAngleFeedback(output)
elif output.startswith("can_relay_fromvic,arm,54"): elif output.startswith("can_relay_fromvic,arm,54"):
pass pass
#self.updateBusVoltage(output) #self.updateBusVoltage(output)
@@ -172,7 +172,7 @@ class SerialRelay(Node):
angles_in = parts[3:7] angles_in = parts[3:7]
# Convert the angles to floats divide by 10.0 # Convert the angles to floats divide by 10.0
angles = [float(angle) / 10.0 for angle in angles_in] angles = [float(angle) / 10.0 for angle in angles_in]
angles[0] = 0.0 angles[0] = 0.0 #override axis0 to zero
# #
# #
#THIS NEEDS TO BE REMOVED LATER #THIS NEEDS TO BE REMOVED LATER
@@ -434,7 +434,8 @@ class SerialRelay(Node):
# Perform IK with the target position # Perform IK with the target position
if self.arm.perform_ik(target_position): if self.arm.perform_ik(target_position):
# Send command to control # Send command to control
command = "can_relay_tovic,arm,32," + ",".join(map(str, self.arm.ik_angles[:4])) + "\n"
#command = "can_relay_tovic,arm,32," + ",".join(map(str, self.arm.ik_angles[:4])) + "\n"
self.send_cmd(command) self.send_cmd(command)
self.get_logger().info(f"IK Success: {target_position}") self.get_logger().info(f"IK Success: {target_position}")