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feat: add brake mode to core

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David
2025-05-24 16:03:33 +00:00
parent 6b0ea58e95
commit f34ef88d6c
1 changed files with 6 additions and 3 deletions
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5
src/core_pkg/core_pkg/core_node.py
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@@ -172,10 +172,13 @@ class SerialRelay(Node):
def send_controls(self, msg): def send_controls(self, msg):
#can_relay_tovic,core,19, left_stick, right_stick #can_relay_tovic,core,19, left_stick, right_stick
if(msg.turn_to_enable): if(msg.turn_to_enable):
command = "can_relay_tovic,core,41," + msg.turn_to + ',' + msg.turn_to_timeout + '\n' command = "can_relay_tovic,core,41," + str(msg.turn_to) + ',' + str(msg.turn_to_timeout) + '\n'
else: else:
command = "can_relay_tovic,core,19," + self.scale_duty(msg.left_stick, msg.max_speed) + ',' + self.scale_duty(msg.right_stick, msg.max_speed) + '\n' command = "can_relay_tovic,core,19," + self.scale_duty(msg.left_stick, msg.max_speed) + ',' + self.scale_duty(msg.right_stick, msg.max_speed) + '\n'
self.send_cmd(command)
# Brake mode
command = "can_relay_tovic,core,18," + str(int(msg.brake)) + '\n'
self.send_cmd(command) self.send_cmd(command)
#print(f"[Sys] Relaying: {command}") #print(f"[Sys] Relaying: {command}")