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feat: fully remove socket_feedback class

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This commit is contained in:
Tristan McGinnis
2025-04-12 16:25:46 -05:00
committed by David
parent e059f5cfec
commit f12daff861
2 changed files with 24 additions and 51 deletions
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46
src/arm_pkg/arm_pkg/arm_node.py
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@@ -25,7 +25,6 @@ from ament_index_python.packages import get_package_share_directory
# from scipy.spatial.transform import Rotation as R # from scipy.spatial.transform import Rotation as R
from . import astra_arm from . import astra_arm
#from . import socket_feedback
serial_pub = None serial_pub = None
thread = None thread = None
@@ -33,7 +32,6 @@ thread = None
class SerialRelay(Node): class SerialRelay(Node):
def __init__(self): def __init__(self):
# Initialize node # Initialize node
@@ -169,6 +167,10 @@ class SerialRelay(Node):
angles[0] = 0.0 angles[0] = 0.0
# Update the arm's current angles # Update the arm's current angles
self.arm.update_angles(angles) self.arm.update_angles(angles)
self.arm_feedback.axis0_angle = angles[0]
self.arm_feedback.axis1_angle = angles[1]
self.arm_feedback.axis2_angle = angles[2]
self.arm_feedback.axis3_angle = angles[3]
self.get_logger().info(f"Angles: {angles}") self.get_logger().info(f"Angles: {angles}")
else: else:
self.get_logger().info("Invalid angle feedback input format") self.get_logger().info("Invalid angle feedback input format")
@@ -180,12 +182,10 @@ class SerialRelay(Node):
# Extract the voltage from the string # Extract the voltage from the string
voltages_in = parts[3:7] voltages_in = parts[3:7]
# Convert the voltages to floats # Convert the voltages to floats
v_bat = float(voltages_in[0]) / 100.0 self.arm_feedback.bat_voltage = float(voltages_in[0]) / 100.0
v_12 = float(voltages_in[1]) / 100.0 self.arm_feedback.voltage_12 = float(voltages_in[1]) / 100.0
v_5 = float(voltages_in[2]) / 100.0 self.arm_feedback.voltage_5 = float(voltages_in[2]) / 100.0
v_3 = float(voltages_in[3]) / 100.0 self.arm_feedback.voltage_3 = float(voltages_in[3]) / 100.0
# Update the arm's current voltages
self.arm_feedback.updateBusVoltages([v_bat, v_12, v_5, v_3])
else: else:
self.get_logger().info("Invalid voltage feedback input format") self.get_logger().info("Invalid voltage feedback input format")
@@ -197,10 +197,12 @@ class SerialRelay(Node):
values_in = parts[3:7] values_in = parts[3:7]
# Convert the voltages to floats # Convert the voltages to floats
for i in range(4): for i in range(4):
self.arm_feedback.updateJointVoltages(i, float(values_in[i]) / 10.0) #update arm_feedback's axisX_temp for each axis0_temp, axis1_temp, etc...
self. pass
self.arm_feedback.updateJointCurrents(i, float(values_in[i]) / 10.0)
self.arm_feedback.updateJointTemperatures(i, float(values_in[i]) / 10.0) # self.arm_feedback.updateJointVoltages(i, float(values_in[i]) / 10.0)
# self.arm_feedback.updateJointCurrents(i, float(values_in[i]) / 10.0)
# self.arm_feedback.updateJointTemperatures(i, float(values_in[i]) / 10.0)
else: else:
self.get_logger().info("Invalid motor feedback input format") self.get_logger().info("Invalid motor feedback input format")
@@ -357,17 +359,17 @@ class SerialRelay(Node):
def socket_pub_callback(self): def socket_pub_callback(self):
# Create a SocketFeedback message and publish it # Create a SocketFeedback message and publish it
msg = SocketFeedback() # msg = SocketFeedback()
msg.bat_voltage = self.arm_feedback.bat_voltage # msg.bat_voltage = self.arm_feedback.bat_voltage
msg.voltage_12 = self.arm_feedback.voltage_12 # msg.voltage_12 = self.arm_feedback.voltage_12
msg.voltage_5 = self.arm_feedback.voltage_5 # msg.voltage_5 = self.arm_feedback.voltage_5
msg.voltage_3 = self.arm_feedback.voltage_3 # msg.voltage_3 = self.arm_feedback.voltage_3
msg.joint_angles = self.arm_feedback.joint_angles # msg.joint_angles = self.arm_feedback.joint_angles
msg.joint_temps = self.arm_feedback.joint_temps # msg.joint_temps = self.arm_feedback.joint_temps
msg.joint_voltages = self.arm_feedback.joint_voltages # msg.joint_voltages = self.arm_feedback.joint_voltages
msg.joint_currents = self.arm_feedback.joint_currents # msg.joint_currents = self.arm_feedback.joint_currents
self.socket_pub.publish(msg) #Publish feedback from arm self.socket_pub.publish(self.arm_feedback) #Publish feedback from arm
self.arm.update_position() #Run FK and update the current position of the arm, using FK self.arm.update_position() #Run FK and update the current position of the arm, using FK

29
src/arm_pkg/arm_pkg/feedback_storage.py
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@@ -1,29 +0,0 @@
# struct for socket feedback
class Feedback:
def __init__(self):
self.bat_voltage = 0.0
self.voltage_12 = 0.0
self.voltage_5 = 0.0
self.voltage_3 = 0.0
self.joint_angles = [0.0, 0.0, 0.0, 0.0]
self.joint_temps = [0.0, 0.0, 0.0, 0.0]
self.joint_voltages = [0.0, 0.0, 0.0, 0.0]
self.joint_currents = [0.0, 0.0, 0.0, 0.0]
def updateBusVoltages(self, voltages):
self.bat_voltage = voltages[0]
self.voltage_12 = voltages[1]
self.voltage_5 = voltages[2]
self.voltage_3 = voltages[3]
def updateJointVoltages(self, axis, voltage):
self.joint_voltages[axis] = voltage
def updateJointCurrents(self, axis, current):
self.joint_currents[axis] = current
def updateJointTemperatures(self, axis, temperature):
self.joint_temps[axis] = temperature
def updateJointAngles(self, angles):
self.joint_angles = angles