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Changes following pico swap and mechanism changes

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This commit is contained in:
Pimpest
2026-04-16 22:21:47 +02:00
parent ae77335ef9
commit c431a7f8d5
3 changed files with 9 additions and 9 deletions
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4
toid_control/launch/toid.launch.py
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@@ -38,7 +38,7 @@ def generate_launch_description():
parameters=[ parameters=[
{ {
"mock_odom": use_mock, "mock_odom": use_mock,
"serial_port": "/dev/serial/by-id/usb-Mg_Robotics_Magrob_Odometry_MCU_E66368254F4F4036-if02", "serial_port": "/dev/serial/by-id/usb-Mg_Robotics_Magrob_Odometry_MCU_504430456075AF1C-if02",
} }
], ],
) )
@@ -57,7 +57,7 @@ def generate_launch_description():
default_model_path, default_model_path,
" use_mock:=", " use_mock:=",
use_mock, use_mock,
" serial_port:=/dev/serial/by-id/usb-Mg_Robotics_Magrob_Odometry_MCU_E66368254F4F4036-if02", " serial_port:=/dev/serial/by-id/usb-Mg_Robotics_Magrob_Odometry_MCU_504430456075AF1C-if00",
] ]
) )
} }

12
toid_interaction/toid_interaction/interaction_node.py
View File

@@ -63,21 +63,21 @@ class InteracitionNode(Node):
return Empty.Response() return Empty.Response()
okreni(5) okreni(5)
zupcanik = ZupcanikAction(self.st_motor_device_name) zupcanik = ZupcanikAction(self.st_motor_device_name)
zupcanik.zupcanik(1, -1010, 25) zupcanik.zupcanik(1, -1015, 25)
self.step = 1 self.step = 1
return response return response
def sequence2_cb(self, request: SendString.Request, response: SendString.Response): def sequence2_cb(self, request: SendString.Request, response: SendString.Response):
if self.step != 1: if self.step != 1:
return Empty.Response() return SendString.Response()
zidovi = Zidovi(self.st_motor_device_name) zidovi = Zidovi(self.st_motor_device_name)
zidovi.zidovi(0, 1500, 600, 300, 100, 120) zidovi.zidovi(1, 1500, 600, 210, 130, 130)
okreni_niz(request.text) okreni_niz(request.text)
zidovi.zidovi(0, 1500, 450, 150, 100, 120) zidovi.zidovi(0, 1500, 420, 30, 130, 130)
self.step = 2 self.step = 2
return response return response
@@ -88,8 +88,8 @@ class InteracitionNode(Node):
zupcanik = ZupcanikAction(self.st_motor_device_name) zupcanik = ZupcanikAction(self.st_motor_device_name)
zidovi = Zidovi(self.st_motor_device_name) zidovi = Zidovi(self.st_motor_device_name)
zupcanik.zupcanik(1, 1010, 25) zupcanik.zupcanik(1, 1015, 25)
zidovi.zidovi(0, 1500, 150, 150, 100, 120) zidovi.zidovi(0, 1500, 180, 180, 130, 130)
okreni(5) okreni(5)
self.step = 0 self.step = 0
return response return response

2
toid_interaction/toid_interaction/mechanism/sekvenca_2026.py
View File

@@ -8,7 +8,7 @@ import time
import serial import serial
import serial.tools.list_ports as list_ports import serial.tools.list_ports as list_ports
SERIAL_ID = "50443405C8C3B21C" SERIAL_ID = "259B221729115453"
def okreni(i): def okreni(i):