From a0f08f7b76e37d669bd1e49bb56aa5473b637a69 Mon Sep 17 00:00:00 2001
From: Pimpest <82343504+pimpest@users.noreply.github.com>
Date: Thu, 5 Feb 2026 11:50:57 +0100
Subject: [PATCH] Swapped AMC0 and AMC1

---
 mg_bringup/launch/base.launch.py      | 2 +-
 mg_bringup/launch/launch.py           | 2 +-
 mg_control/src/mg_control.cpp         | 2 +-
 mg_odometry/src/mg_odom_publisher.cpp | 2 +-
 4 files changed, 4 insertions(+), 4 deletions(-)

diff --git a/mg_bringup/launch/base.launch.py b/mg_bringup/launch/base.launch.py
index 98b6374..8d854cc 100644
--- a/mg_bringup/launch/base.launch.py
+++ b/mg_bringup/launch/base.launch.py
@@ -46,7 +46,7 @@ def generate_launch_description():
             condition=UnlessCondition(LaunchConfiguration('local_test')),
             parameters=[{
                 'odom': "odom",
-                'serial_path': "/dev/ttyACM0",
+                'serial_path': "/dev/ttyACM1",
             }],
 
             emulate_tty=True,
diff --git a/mg_bringup/launch/launch.py b/mg_bringup/launch/launch.py
index 67ba23d..9b15a96 100644
--- a/mg_bringup/launch/launch.py
+++ b/mg_bringup/launch/launch.py
@@ -33,7 +33,7 @@ def generate_launch_description():
             condition=UnlessCondition(LaunchConfiguration('local_test')),
             parameters=[{
                 'odom': "odom",
-                'serial_path': "/dev/ttyACM0",
+                'serial_path': "/dev/ttyACM1",
             }],
 
             emulate_tty=True,
diff --git a/mg_control/src/mg_control.cpp b/mg_control/src/mg_control.cpp
index 276da6c..33c9bd7 100644
--- a/mg_control/src/mg_control.cpp
+++ b/mg_control/src/mg_control.cpp
@@ -11,7 +11,7 @@ CallbackReturn mg::MgStepperInterface::on_init(const hardware_interface::Hardwar
     if (info_.hardware_parameters.find("device_path") != info.hardware_parameters.end()) {
         serial_port_name = info_.hardware_parameters["device_path"];
     } else {
-        serial_port_name = "/dev/ttyACM1";
+        serial_port_name = "/dev/ttyACM0";
     }
 
     left_wheel_pos_state  = 0;
diff --git a/mg_odometry/src/mg_odom_publisher.cpp b/mg_odometry/src/mg_odom_publisher.cpp
index abdbed7..8dd95c8 100644
--- a/mg_odometry/src/mg_odom_publisher.cpp
+++ b/mg_odometry/src/mg_odom_publisher.cpp
@@ -23,7 +23,7 @@
 
 #define TIMEOUT 10u
 
-constexpr const char* ENCODER_SERIAL_PATH_DEFAULT = "/dev/ttyACM0";
+constexpr const char* ENCODER_SERIAL_PATH_DEFAULT = "/dev/ttyACM1";
 
 using SendDoubleSrv = mg_msgs::srv::SendDouble;
 using ZeroSrv       = std_srvs::srv::Empty;